IC-Module for CANopen - KUNBUS · Customer Service1.5 If you have any questions or suggestions concerning this product, please do not hesitate to contact us: KUNBUS GmbH Heerweg 15

User Manual KUNBUS-IC module for CANopen

100058_UM00EN

Table of Contents KUNBUS GmbH

ii IC-Module for CANopen

Table of Contents1 General information........................................................................................................................ 4

1.1 Disclaimer.................................................................................................................................. 41.2 Notes regarding this user manual.............................................................................................. 41.3 Validity ....................................................................................................................................... 51.4 Limitation of Liability .................................................................................................................. 51.5 Customer Service ...................................................................................................................... 5

2 Safety Guidelines............................................................................................................................ 62.1 User ........................................................................................................................................... 62.2 Symbols..................................................................................................................................... 62.3 General Safety Guidelines......................................................................................................... 72.4 Environmental Conditions.......................................................................................................... 7

3 Overview .......................................................................................................................................... 83.1 Introduction................................................................................................................................ 83.2 Application Interface .................................................................................................................. 83.3 Status LEDs............................................................................................................................... 9

4 Components .................................................................................................................................. 114.1 Module Components ............................................................................................................... 114.2 Storage Unit............................................................................................................................. 124.3 Data Broker ............................................................................................................................. 134.4 Fieldbus Interface .................................................................................................................... 214.5 CDI - Configuration and Debug Interface ................................................................................ 214.6 SDI - Serial Data Interface....................................................................................................... 224.7 Synchronous serial interface ................................................................................................... 234.8 Scripter .................................................................................................................................... 34

5 Commissioning ............................................................................................................................. 355.1 Installation ............................................................................................................................... 355.2 Configuration ........................................................................................................................... 415.3 Firmware Update ..................................................................................................................... 41

6 Memory Register ........................................................................................................................... 426.1 Overview of the Memory Register ........................................................................................... 426.2 General Device Parameters .................................................................................................... 456.3 Register for the Mapping ......................................................................................................... 676.4 Memory of the Communication Channels ............................................................................... 696.5 Fieldbus specific Registers...................................................................................................... 71

7 Communication model ................................................................................................................. 797.1 Object Directory....................................................................................................................... 79

8 CDI ................................................................................................................................................. 838.1 Setting up a Serial Connection ................................................................................................ 83

KUNBUS GmbH Table of Contents

IC-Module for CANopen iii

8.2 CDI Menus............................................................................................................................... 85

9 Disposal ....................................................................................................................................... 1179.1 Dismantling and Disposal ...................................................................................................... 117

10 Technical data ............................................................................................................................. 11810.1Technical data ....................................................................................................................... 118

11 Appendix...................................................................................................................................... 11911.1Configuration via Modpoll ...................................................................................................... 119

IC-Module for CANopen 4 / 120

1 General information

1.1 Disclaimer© 2015 KUNBUS GmbH, Denkendorf (Deutschland)

The contents of this user manual have been prepared by theKUNBUS GmbH with the utmost care. Due to the technicaldevelopment, the KUNBUS GmbH reserves the right to change orreplace the contents of this user manual without prior notice. You canalways obtain the latest version of the user manual at our homepage:www.kunbus.de

The KUNBUS GmbH shall be liable exclusively to the extentspecified in General Terms and Conditions (www.kunbus.de/agb.html).

The contents published in this user manual are protected bycopyright. Any reproduction or use for the in-house requirements ofthe user is permitted. Reproduction or use for other purposes are notpermitted without the express, written consent of the KUNBUSGmbH. Contraventions shall result in compensation for damages.

Trademark protection– KUNBUS is a registered trademark of the KUNBUS GmbH– Windows® and Microsoft® are registered trademarks of the Microsoft,

Corp.– Modbus is a registered trademark of the Modbus-IDA Organization.

KUNBUS GmbHHeerweg 15 c73770 DenkendorfDeutschland

www.kunbus.de

1.2 Notes regarding this user manualThis user manual provides important technical information that canenable you, as a user, to efficient, safe and convenient integration ofthe IC-Module into your applications and systems. It is intended fortrained, qualified personnel, whose sound knowledge in the field ofelectronic circuits and expertise of CANopen is assumed.

As an integral part of the module, the information provided hereshould be kept and made available to the user.

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1.3 ValidityThis document describes the application of the KUNBUS IC-Modulswith the product number:– PR100009 (variant with 5 Volt), Release 02– PR100058 (variant with 3.3 Volt), Release 00

1.4 Limitation of LiabilityWarranty and liability claims will lapse if:– the product has been used incorrectly,– damage is due to non-observance of the operating manual,– damage is caused by inadequately qualified personnel,– damage is caused by technical modification to the product (e.g.

soldering).

1.5 Customer ServiceIf you have any questions or suggestions concerning this product,please do not hesitate to contact us:

KUNBUS GmbHHeerweg 15 C

+49 (0)711 3409 7077

[email protected]

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http://www.kunbus.de


2 Safety Guidelines

2.1 UserThe Modul may only be assembled, installed and put into operationby trained, qualified personnel. Before assembly, it is absolutelyessential that this documentation has been read carefully andunderstood. Expertise in the following fields is assumed:– Electronic circuits,– Basic knowledge of CANopen,– work in electrostatic protected areas,– Locally applicable rules and regulations for occupational safety.

2.2 SymbolsThe symbols used have the following meaning:

DANGER HazardObserve this information without fail!There is a safety hazard that can lead to serious injuries and death.

CAUTION CautionThere is a safety hazard that can result in minor injuries and materialdamage.

NOTICE NoteHere you will find important information without a safety hazard.

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2.3 General Safety Guidelines

DANGER Danger of electric shockIf unsuitable power supply is used, this can cause an electric shock.Ø This can cause death, serious injuries and material damage to your

systems and modules.èOnly use a power supply that complies with the regulations for safety

extra-low voltage (SELV) or protective extra-low voltage (PELV).

CAUTION Fault due to mechanical loadA continuous mechanical load of over 5 G or shock loads of over 15 G cancause faults on your modules.èComply with these load limits and avoid any unnecessary loads.

CAUTION Damage due to subsequent processingAvoid subsequent processing of the IC-Modul.Ø Soldering can cause components to become detached and thus

damage or destroy the module.Ø Please note that the warranty shall become invalid if the products are

changed technically.èSpeak to your contact person at the KUNBUS GmbH about customised

solutions.

2.4 Environmental ConditionsOperate the IC-Modul only in an environment that complies with theoperating conditions in order to prevent any damage.

Suitable Environmental Conditions:

Operating temperature 0 °C to +60 °CHumidity 0% not 95%, non-condensing

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3 Overview

3.1 IntroductionWith the KUNBUS IC-Modul you can make a sensor or actuatorfieldbus-capable. To do this, simply insert the module into yourapplication and connect it to the fieldbus.

The IC-Modul thereby saves you time-consuming in-housedevelopments.

3.2 Application InterfaceThe main board is connected to the device controller via a 32-pinconnector strip. Thus, you have the option to plug the module directlyinto your DIL socket.

NOTICE If the module is plugged in and unplugged frequently, mechanicalstresses may damage the module.Use a zero insertion force socket to prevent damage.

You can find detailed information on this topic in section"Installation[} 35]".

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3.3 Status LEDsOn-Board LEDs When you configure the first output shift register of the SSC channel

as fieldbus status display, the following LEDs are available asindicators:

2

1

No. LED Bit State Meaning Comment1 Module

Error(Red)

1 Off No error has occurred

Flashes Configuration error

At least one systemcomponent is not running due to a configuration error.

On Internal systemerror

A fatal internal systemerror has occurred. Theerror is entered in theerror stack.

2 ModuleOperation(Green)

0 Off Module not running

Flashes Start-up At least one systemcomponent has not yetfinished its initialisation.This also includes theautomatic bitrate detection.

On Normal operation

All system componentsare running perfectly

You have the option to integrate additional LEDs into yourapplication. These LEDs can be activated using the shift register.ü To do this, configure the first output shift register◦ In register 0x0025 or◦ in CDI menu "2.3 SSC Communication"

The signals have the following meaning:

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LED Bit State Meaning CommentModule Operation (Green)

0 Off Module not runningFlashes Start-up At least one system

component has not yet finished its initialisation.This also includes theautomatic baudrate detection.

On Normal operation All system componentsare running perfectly

ModuleError(Red)

1 Off No error has occurred

Flashes Configuration error At least one system component is not runningdue to a configuration error.

On Internal system error A serious, internal systemerror has occurred. The error is entered in the errorstack.

Flashes Start-up At least one system component has not yet finished its initialisation.This also includes theautomatic baudrate detection.

On Normal operation All system componentsare running perfectly

Script RUN(green)

2 Flashes Script deactivated or not loadedOn Script is running

Script ERR(Red)

3 Off No ErrorOn Error in Script

CANopenRun(Green)

4 Off Module not runningOn CANopen State:

Operational1 Flash CANopen State:

StoppedFlashes CANopen State:

PreoperationalFlickers CANopen Autobaud

Detection or LSSCAN Automatic BaudrateDetection active or LSSNode setting active

CANopen Error(Red)

5 Off No error pendingOn Bus Off CAN Controller is in

Bus-Off State1 Flash Warning Limit

reachedCAN Controller hasreached a Warning Limit

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4 Components

4.1 Module ComponentsThe module is divided into independent components to ensure a highlevel of flexibility in the application.

The following pages describe the individual components:

Illustration 1: Components

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4.2 Storage UnitThe storage unit is the central component for all functions of the IC-Module. It is subdivided into individual Memory Register with a widthof 16 bits each. In these Memory registers the following information isstored:– Input and output data– Configuration settings– Module Status– Error states

The functionality of the addressing was incorporated from Modbus.The register assignment depends on the application and is notspecified by the Modbus specification. A Memory Register accordingto this specification has a register number between 1 (0x0001) and amaximum of 65536 (0x10000), of which the module only uses a smallpart, however.

With 8-bit values, 1 byte remains unused. 32-bit values are stored in2 registers.

The 16-bit values are stored internally in the memory in Little Endianorder. This must be taken into account when you access data via thefieldbus interface, SDI or SSC.

NOTICE! In the description of the individual memory registersand CDI, the memory registers are also referred to as Modbusregisters.

In section Overview of the Memory Register [} 42] we havecompiled a detailed overview of registers for you.

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4.3 Data BrokerThe Data Broker decouples individual components from each otherand distributes the data streams between the interfaces. Thetargeted forwarding of the data ensures a high level of functionalitybetween the data sources and data sinks of the module.

Illustration 2: Internal mapping by the Data Broker

MappingYou have the option to define the allocation (mapping) yourself. Thisallows you to define which input register the Data Broker shouldaccept data from and which output register it should transfer data to.

You can define up to 8 register areas with freely definable lengths inthe respective output register area for each of the interfaces. Anyregister area of the same length is assigned to the output registerareas from one of the input register areas of all interfaces. Here, the8 target areas are always on consecutive output register positions,starting with the lowest register address for the respective interface.

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Illustration 3: Mapping

NOTICE ViewpointPlease note that the description of the input and output values is writtenfrom the perspective of the module and not from the perspective of theoverall system or controller.èOutput: Values that the module sends to the fieldbus or application.èInput: Values that the module receives from the fieldbus or application.

You can configure standard values that the Data Broker writes in therelevant output register instead of an input register in the event of afailure of a data provider. That has the advantage that the dataprocessing cannot abort uncontrollably.

The module uses the Little Endian byte order for the internalprocessing. You can also configure the Data Broker so that itexchanges the high and low byte when copying if necessary. To dothis, add the value 0x8000 or 32768 for the required mapping area(see details below).

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Extended MappingSome applications work with data that is viewed bit by bit. To makethe mapping for such applications even more flexible, an "ExtendedMapping" is provided. This mapping basically works in the same wayas the mapping described above:

Individual areas of the output Memory Register are assigned fromareas of the input Memory registers. In Extended Mapping you definesuch assignments for up to 16 areas. When doing so, enter a numberof consecutive bits for each of these areas.

The limit of a register must not be exceeded: The area may be up to1024 bits long. Unlike the simple mapping described above,however, the 16 target areas do not necessarily have to be atconsecutive addresses. You are totally free to define the position ofthe first bit of the target area by entering an output register addressand the corresponding bit position (0 to 15). The source area is alsodefined by entering the input register and a start bit position.

Illustration 4: Extended Mapping

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All mapping areas are processed sequentially. The Data Broker firstcopies all simple mapping areas cyclically. After that, it executes theExtended Mapping. In the course of this, it is quite possible tointentionally overwrite a target area by several sources of data.

NOTICE It is possible that bits are overwritten unintentionally by various inputsources.Make sure that the target areas do not overlap unintentionally.

Validity period of the process dataData sources that write data to the input area of the central memoryare called producers because they produce process data. The DataBroker collects this data and copies it into the output area of thecentral memory. From there, the data is sent to its target, the so-called consumer, via the corresponding interfaces.

Illustration 5: Distribution to producers/consumers

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Process data is normally exchanged cyclically between producersand consumers. If a producer fails (e.g. a connector is removed or acable is broken), the consumer must be able to deal with thissituation appropriately. For this reason, you can define in advancewhich values the producer will receive in exchange for the failedprocess data.

The IC-Module allow a separate validity period to be defined for eachproducer (SDI, SSC, CANopen ). When a producer supplies newprocess data, a stopwatch is started. If the producer does not supplyany new process data before the predefined validity period expires,then the old data is invalid after this time.

Each consumer predefines which data he is to receive from the DataBroker in such a case:– All bytes at 0– All bytes at 1– retain the last valid data

The set validity periods from IC-Modul are saved permanently in theMemory registers. They are also available after a restart. Likewise,the rule defined for a consumer, as to how to proceed if the validityperiod is exceeded. The respective time values of the validity periodmust be adapted, of course, to the cycle time of the interfaceconcerned.– For CANopen this cycle time is determined by parameters of the

master.– For SSC interface the time is determined from the shift register chain

length, the cycle frequency, and for short or fast register chains, it is determined by the cycle time of the ICmodule.

– During SPI slave mode and SDI transfer, the master determines thecycle time of the respective interface.

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Example of a MappingThe following example explains, step-by-step, how to map the firstthree SDI input registers and the first five SSC input registers to thefield output register.

If you would like to participate in this example, you will need afunctional CDI connection. Section "Setting up a Serial Connection[} 83]" explains how this works.

Input options in the CDI menu:

You can enter hexadecimal (with prefixed 0x) or decimal numbers inthe CDI menu.

[Esc] Go back one level[Enter] Confirm input/selection[b] Value is displayed in binary code[h] Value is displayed in hexadecimal

code[d] Value is displayed in decimal

code

◦ Open the main menu of the CDI as described in the Appendix "Settingup a serial connection using PuTTY".

Main Menu The main menu is your access point for operating the module usingthe CDI. After a reset, the module transmits this main menu to theterminal.

--------------------------------------------------KUNBUS-IC – Main Menu--------------------------------------------------1 – Module Information2 – Interface Configuration3 - Monitor Communication4 – Module Status-------------------------------------------------->

Configuration menu ◦ In the main menu enter [2]+[Return].ð You will be taken to the configuration menu "2-Interface Configuration"

In this menu you have the option to set the mapping for the databroker and the operational parameters for the different interfaces.

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– Select "Fieldbus Output Mapping" to define the data source for thefieldbus output register.

--------------------------------------------------KUNBUS-IC – Interface Configuration--------------------------------------------------1 - SDI Communication2 - CDI Communication3 - SSC Communication4 - SDI Output mapping5 - SSC Output mapping6 - Fieldbus Output mapping7 - Fieldbus Specific8 - Set Arbitrary Register9 - Reset Module10 - Extended Databroker11 - Script Interpreter12 - Reset to Factory Settings-------------------------------------------------->

◦ Enter [1] + [Return].◦ Specify the first 3 registers of the SDI input register as data source

(start address 0x1401).◦ Confirm your entry with [Return]ð After confirming, you will return automatically to the "Fieldbus Output

Mapping" menu

You can find an overview of the start addresses in the section"Overview of the Memory Register [} 42]".

--------------------------------------------------KUNBUS-IC – Edit one map entry--------------------------------------------------Source Register: 0x1401Number of Registers: 3

◦ Create another mapping at the next free position◦ Select the first 5 registers of the SSC input register as data source (start

address 0x1001)

--------------------------------------------------KUNBUS-IC – Edit one map entry--------------------------------------------------Source Register: 0x1001Number of Registers: 5

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In the menu for fieldbus outputmapping, you can see the finishedmapping.

--------------------------------------------------KUNBUS-IC - Fieldbus Outputmapping--------------------------------------------------Src Register Number1 - 1521 (0x1401) | 32 - 4097 (0x1001) | 53 - 1 (0x0001) | 04 - 1 (0x0001) | 0

5 - Default Data: all zero6 - Valid Time: disabled-------------------------------------------------->

The new mapping becomes active after a restart of the module. Toperform a restart, you have the following options:1. Switch the module off and on again.2. [Esc] takes you to the CDI menu [2] "Interface Configuration".

Here, enter [14] + [Return].

In CDI menu [2] "Interface Configuration" under menu item"Set Arbitrary Register" you now have the option to write thevalues in the SDI-In data area. The registers 0x1401 - 0x1500 areavailable to you for this purpose.

In menu [3] "Monitor Communication", under menu item "Arbitrary Register" you can view the fieldbus output registerfrom address 0x2801.

NOTICE Fault due to fine settingsSome settings lead to malfunctioning of the module.If you already want to test some settings now, read section CDI MenusCDIMenus [} 85].

Also see about this2 Register for the Mapping [} 67]2 Setting up a Serial Connection [} 83]

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4.4 Fieldbus InterfaceThe fieldbus interface connects the Modul to CANopen. This alsoenables access to the fieldbus data areas FBS IN/Out.

Also see about this2 Overview of the Memory Register [} 42]

4.5 CDI - Configuration and Debug InterfaceAt the application interface, serial cables are available (RS232interface with 3.3 V logic levels). You can connect these cables to aterminal or PC with terminal simulation (e.g. PuTTY) using aninterface IC on the main board (see the application sample circuitdiagram, Appendix 2). You can read and change parameters usingstructured menus. The CDI is also used for downloading scripts andfirmware updates.

The CDI is suitable for configuration during the development and fordiagnostic purposes. To configure several modules automatically, werecommend performing the settings with "Modpoll". "Modpoll" isfreely-available software. You can find an introduction and exampleof this in the Appendix Configuration via Modpoll [} 119].

The serial interface is located at the application interface. Therespective cables are provided there with 3.3 V logic levels. Toconnect these cables, you have the following options:– Connect the cables directly with the UART inputs of the microprocessor

on the main board– Convert the cables to standardised levels using level converters or

interface ICs. Afterwards, place the converted levels onto connectors forconnecting a PC or terminal.

We deliver the Modul to you with the following default settings toenable access via the CDI :

• 115200 bit/s

• 8 data bits

• 1 stop bit

• Even parity (Even)

In section CDI Menus, we have compiled a detailed description of themenus for you.

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4.6 SDI - Serial Data InterfaceThe serial data interface allows the application to access theindividual Memory Register via the Modbus-RTU protocol. Thisallows you to configure the IC-Modul automatically and to writeproductive data in the input registers or to read it from the outputregisters.

The serial data interface is located at the application interface. Therespective cables are provided there with 3.3 V logic levels. Toconnect these cables, you have the following options:– Connect the cables directly with the UART inputs of the microprocessor

on the main board– Convert the cables to standardised levels using level converters or

interface ICs. Afterwards, place the converted levels onto connectors forconnecting a PC or terminal.

We deliver the Modul to you with the following default settings toenable access via the SDI :

• automatic baudrate detection

• 8 data bits

• 1 stop bit

• Even parity (Even)

Automatic bitrate detection means that the module tests the followingbitrates until it has received a correct Modbus-RTU telegram:

• 2400 bit/s

• 4800 bit/s

• 9600 bit/s

• 19200 bit/s

• 38400 bit/s

• 57600 bit/s

• 115200 bit/s

NOTICE! During automatic bitrate detection the module does notsend a reply to the master until the correct bitrate has beendetected. This procedure can require up to 40 polls of themaster.

TIP: Set a fixed bitrate if the automatic bitrate detection lasts toolong for you.You can make the settings optionally using theCDI or in thememoryregister 0x0005 [} 48].

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4.7 Synchronous serial interfaceA synchronous serial interface is available to you on the applicationinterface. The synchronous serial interface can be used in 2operating modes. You can select the operating mode in the CDImenu or in the memory registers:– CDI Menu 2.3 [} 89]– Memory Register 0x0017 [} 54]

Output data from the Data Broker is written to the SSC outputregister area and input data is read from the SSC input register areain both operating modes. The SPI Slave operating mode also allowsan SPI Master write and read access to all other Memory Registerthat are enabled for this. This section describes how this functions indetail.

Operating mode as SPI SlaveIn SPI Slave mode, the transmission of the process data between anSPI Master and the SSC Input or Output registers takes place in datablocks, which, in addition to the actual process data, also containmetadata (e.g. for indicating the register addresses for source andtarget areas). Such data blocks are transmitted with a hardwarehandshake. The actual data transmission lines MOSI, MISO andClock are used with 3.3 V logic in the usual manner, as describedbelow in the document S12SPIV4 "SPI Block Guide" von Motorola /Freescale®. Here, you can freely select the normally alterableparameters CPOL (Clock polarity) and CPHA (Clock Phase) in IC-Modul and define these permanently via the CDI Menu [} 92] ormemory register [} 55]. The bit sequence (MSB first or MSB last) isfixed for IC modules, the module always starts the transmission withthe MSB (bit of highest value) of a byte. All bytes belonging to ablock are transmitted in a continuous sequence.

The clock signal required is input externally from the Master.

The IC-Modul can process maximum clock frequencies of 20 MHz.Handshaking The handshaking lines ensure that a Master first sends the

subsequent transmission block after the module has processed theblock that was received previously.

The module indicates by the "low" level on the SPI ready line that atransmission cycle has been completed, the status of the lasttransmission is waiting to be retrieved and the Master can trigger thenext cycle. The Master starts this cycle by setting the SSC Chip

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Select line to "high" to indicate to the module that data is ready fortransmission and the following data block is meant for the module(theoretically, a master can address several modules). Once themodule is now ready for this data transmission, it sets the SPI readyline to "high" and the Master can start transmission of the blockimmediately. A maximum delay between setting the CS signal andreleasing by the ready signal of the module is 10 ms. All bytes of adata block are now transmitted directly in succession at the ratepreset by the Master. After the last bit of the data block has beentransmitted, the Master indicates the end of the transmission byresetting the SPI Chip Select line to "low". The module responds tothis by resetting the SPI Ready line to "low". This happens at theearliest, however (maximum 10 ms after resetting CS), when thedata has been processed insofar as the status was determined andis ready in the SPI output buffer so that the next transmission canstart. This must first be requested, however, by the Master (asdescribed above) by setting the SPI Chip Select line to "high".

Chip Select(Master)

Ready(Slave)

Data(Master & Slave)

Protocol KUNBUS has defined a separate protocol for the data exchange viathe synchronous serial interface. This protocol allows you to performvarious read and write access operations. Here, the Master firstalways sends a transmission block with at least 5 bytes. The first 3 to5 bytes of this transmission block consist of meta data (targetaddress, etc.). Depending on the access type, another transmissionblock of variable data length follows the first block. Write and readaccess to the memory register of the module is performed. Onlymemory registers that have been enabled can be written or read, ofcourse. The following areas cannot be written:

Input data areas:– Fieldbus– SDI

Output data areas:– Fieldbus– SSC

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– SDI

When writing to the SSC input data area, the time monitoring is resetfor this area (see Valid Time, Section "Data Broker [} 13]").

The various access types are explained below.Writing 1 byte This access type is used if 1 byte is written to a memory register of

the module by the Master.

The Master first sends a transmission block with a fixed length of 5bytes, which have the following content:

Transmission block with fixed lengthCommandcode(1 byte)

Address area(2 bytes)

Data area(1 byte)

Mask area(1 byte)

Description

0x01 0x0000-0xFFFF 0x00-0xFF 0x00-0xFF WRITE_LOW_BYTE0x02 0x0000-0xFFFF 0x00-0xFF 0x00-0xFF WRITE_HIGH_BYTE0x00 0xXXXX 0xXX 0xXX NO_OPERATION*

Theoretically, you could use all memory register addresses between0 and 0xFFFF. In practice, however, the write access is limited toregisters that are enabled for this purpose. The byte can be written tothe high or low byte position of the 16-bit wide register by selectingthe associated command code. The mask byte only makes itpossible to write single bits to the target register. Thereby, only bitsthat are set to "1" in the mask are transferred from the data byte (i.e.these bits are set to the value as found in the data byte). All other bitsare left unchanged in the register.

During transmission of this first block, the module sends the status ofthe previous data transmission. The module first returns the statusfor the previous access when sending the next transmission block. If,however, no further write or read operation should follow the writeaccess, then the Master must send another transmission block withthe command code 0 ("NO_OPERATION") for retrieving the status,in which the module returns the status for the last write accessoperation.

The status response from the module is structured as follows for allwrite access types:

Transmission block with fixed lengthStatus code(1 byte)

Error code(2 bytes)

Not used(2 bytes)

Description

0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERA-TION

0x01 0x0000 0xXXXX WRITE_SUCCESS0x02 ERROR_CODE1 0xXXXX WRITE_FAILURE

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1 See Table "ErrorCode"

The first byte returns the status. If it is set to "0", the Master thenindicates that it cannot return any current status information sincethere was no previous operation (this is usually the response to thevery first block transmission). A "1" indicates the successfulcompletion of the previous transmission. In the case of a 2, themodule sends the error code of an error in the subsequent byte,which occurred during the previous block transmission. The possibleerror codes are listed at the end of this subsection.

Writing 2 bytes (Word) This access type basically proceeds as when writing 1 byte. It differsin the following points:– Instead of a mask byte, the second byte of the 16-bit wide user data is

transmitted with the data block. Access to individual bits in the targetregister is not possible with this access type.

– The 16-bit wide register content to be written must be prepared by theMaster in such a way that the higher-value byte is transmitted as the 4thbyte and the lower-value byte is transmitted as the 5th byte ("Big-Endian" or "Motorola format").



Data area(2 byte)

Description

0x04 0x0000-0xFFFF 0x0000-0xFFFF WRITE_WORD0x00 0xXXXX 0xXXXX NO_OPERATION*

The status response has the same structure and meaning as writeaccess with 1 byte

Writing more than 2 byteswith one access (bulk-write)

This access type is suitable for larger volumes of data. The numberof target registers to be written and start address are transmitted withthe first transmission block. As with the previous access types, thefirst transmission block also has a fixed length of 5 bytes here. Afterthis block with metadata, the user data follows in a separatetransmission block with variable length. The maximum permittednumber of target registers to be written depends on the target area: Amaximum of 128 registers (each 16-bit = 1 word) are permitted forwriting to the SSC input register area. A maximum of 16 registers perblock is to be written for all other target areas.

All 16-bit wide register contents to be written must be prepared bythe Master in such a way that the higher-value byte is transmitted asthe first byte and the lower-value byte is transmitted as the secondbyte ("Big-Endian" or "Motorola format"). The register contents mustbe sent in ascending address order, i.e. the start address first.

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Data length(2 bytes)

Description

0x08 0x0000-0xFFFF 1-16/128 WRITE_BULK0x00 0xXXXX 0xXXXX NO_OPERATION*

NOTICE The maximum data length for writing in the SSC input data area is 128registers (256 bytes).If this value is exceeded, errors in the data communication will result.

In the case of a transmission block of variable length, the modulesends bytes with the value 0 to the master.

The status response has almost the same structure and meaning aswrite access with 1 byte. In the event of an error, a 16-bit wideregister address is at position 4 and 5 for this transmission type, atwhich the first error occurred. The status is transmitted in the firsttransmission block that follows the data block with variable length.


Error code(2 bytes)

Address area**(2 bytes)

Description

0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERATION0x01 0x0000 0xXXXX WRITE_SUCCESS0x02 ERROR_CODE1 0x0000-0xFFFF WRITE_FAILURE


** Address where an error occursReading 2 bytes (Word) This access type is used if just 1 register is to be read from a

memory register of the module by the Master. The Master first sendsa data block with a fixed length of 5 bytes, which have the followingcontent:



Not used(2 bytes)

Description

0x10 0x0000-0xFFFF 0xXXXX READ_WORD0x00 0xXXXX 0xXXXX NO_OPERATION*

* This command allows the master to request the status of a readrequest without an additional read or write request having to beexecuted.

Theoretically, you could use all memory register addresses between0 and 0xFFFF. In practice, however, the write access is limited toregisters that are enabled for this purpose.

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During transmission of the first data block, the module sends thestatus of the previous data transmission. The module first returns thedata to be read when sending the next data block. If, however, nofurther write or read operation should follow the read access, thenthe Master must send another data block with the command code 0("NO_OPERATION") for retrieving the data to be read, in which themodule returns the status for the last write access operation.

The response from the module is structured as follows for all readaccess operations:


Error code(2 bytes)

Data area(2 byte)

Description

0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERATION0x01 0x0000 0x0000-0xFFFF READ_SUCCESS0x02 ERROR_CODE1 0xXXXX READ_FAILURE


The first byte returns the status. If it is set to "0", the Master thenindicates that it cannot return any current status information sincethere was no previous operation (this is usually the response to thevery first block transmission). A "1" indicates the successfulcompletion of the previous transmission. In the case of a 2, themodule sends the error code of an error in the subsequent byte,which occurred during the previous block transmission.

If the status is "1", the 2 bytes after that at position 4 and 5 containthe content of the memory register to be read at the address that wastransmitted at the last block with the read command. The 16-bit wideregister content read is prepared by the module in such a way thatthe higher-value byte is transmitted as the 4th byte and the lower-value byte is transmitted as the 5th byte ("Big-Endian" or "Motorolaformat").

In the case of status "0" or "2", both data bytes at position 4 and 5are invalid and must be discarded by the Master.

Reading more than 2 bytes(Bulk-Read)

In this access type, the number of source registers to be read as wellas the start address are transmitted with the first transmission blockthat has a fixed length of 5 bytes. After this block with metadata, thetransmission of the read data follows in a separate transmissionblock with variable length. Therefore, this access type is suitableprimarily for larger volumes of data. The maximum permitted numberof source registers to be read depends on the source area: Amaximum of 128 registers (each 16-bit = 1 word) are permitted for

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reading from the SSC output register area. A maximum of 16registers per block is to be read for all other source areas. Byteorder:

All 16-bit wide register contents read are prepared by the module insuch a way that the higher-value byte is transmitted as the first byteand the lower-value byte is transmitted as the second byte ("Big-Endian" or "Motorola format"). The register contents are sent inascending address order, i.e. the start address first.




Description

0x20 0x0000-0xFFFF 1-16/128/256 READ_BULK0x00 0xXXXX 0xXXXX NO_OPERATION*

The Master sends a block of variable length with 0 bytes to themodule.

The status response has almost the same structure and meaning asread access with 1 byte. In the event of an error, a 16-bit wideregister address is at position 4 and 5 for this transmission type, atwhich the first error occurred. The status is transmitted in the firsttransmission block that follows the data block with variable length.

In the event of an error during bulk access (status "2"), the datatransmitted by the module from the data block with variable length isinvalid and must be discarded by the Master.


Error code(2 bytes)


Description

0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERATION0x01 0x0000 0xXXXX READ_SUCCESS0x02 ERROR_CODE1 0x0000-0xFFFF READ_FAILURE

1See Table “ Error code“

** Address where an error occurs

Transmission block with variable length (1-16/128 words)Data area0x0000-0xFFFF"

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Simultaneous reading andwriting of more than 2 byteswith one access (bulk read/write)

In this access type, the number of source registers to be read ortarget registers to be written are transmitted with the firsttransmission block that has a fixed length of 5 bytes. After this blockwith metadata, the transmission of the read data follows in aseparate transmission block with variable length. Unlike with Bulk-Read or Bulk-Write, no random start address can be defined for thisaccess type. The start address for the block to be read is preset with0x2001 (SSC input register) and with 0x1001 (SSC output register)for the block to be written. Byte order:

All 16-bit wide register contents to be read or written are prepared bythe module in such a way that the higher-value byte is transmitted asthe first byte and the lower-value byte is transmitted as the secondbyte ("Big-Endian" or "Motorola format"). The register contents aresent in ascending address order, i.e. the start address first.

Transmission block with fixed lengthCommand code(1 byte)

Notused(2 bytes)


Description

0x40 0xXXXX 1-128 READ_WRITE_BULK0x00 0xXXXX 0xXXXX NO_OPERATION*

Transmission block with variable length (1-16/128 words)Data area0x0000-0xFFFF"

The status response has almost the same structure and meaning asread access with 1 byte. In the event of an error, a 16-bit wideregister address is at position 4 and 5 for this transmission type, atwhich the first error occurred when reading or writing. The status istransmitted in the first transmission block that follows the data blockwith variable length.


Error code(2 bytes)

Not used(2 bytes)

Description

0x00 0xXXXX 0xXXXX NO_PREVIOUS_OPERATION0x10 0x0000 0xXXXX READ_WRITE_SUCCESS0x20 ERROR_CODE1 0xXXXX READ_WRITE_FAILURE

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In the event of an error during bulk access (status "2"), the datatransmitted by the module from the data block with variable length isinvalid and must be discarded by the Master.

Error Codes Error code Designation Description0x01 INVALID_DATA_

ADDRESSInvalid data addressThe master tries to access an invalid ad-dress.The slave ignores the instruction.

0x02 INVALID_DATA_LENGTH

Invalid data lengthThe data length predefined by the master istoo great.The slave ignores the instruction.

0x04 INVALID_DATA Invalid dataThe master tries to write data containingvalues outside a valid range.The slave ignores the instruction.

0x08 INVALID_ACCESS Invalid accessThe master tries to access an invalid areaor a valid address.The slave ignores the instruction.

0x10 INVALID_RANGE Invalid rangeThe master tries to write beyond the limitsof an SSC input data area or to write bey-ond the limits of an SSC, SDI or FBS outputdata area.The slave ignores the instruction.

0x20 UNDEFINED_ERROR Undefined errorAn undefined error has occurred.The slave ignores the instruction.

Table 1: Error Code

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SSC Master Operating ModeIn this operating mode, output data is read from the SSC output register area via the serial synchronous interface and input data is written to the SSC input register area. This takes place via a hardware shift register chain.

Illustration 6: Hardware shift register chain, example with 4 inputs and outputs

The advantage of such an interface is the possibility of forwardinginput and output signals to the fieldbus without the need ofmicroprocessor controlled application circuitry. Switches, contacts,relay coils or solenoid valves, for example, can therefore beconnected directly via CANopen without using a microprocessor.

The IC-Modul with its clock clocks the output data into the inputregister of the chain via the MOSI line, where it is shifted bit by bituntil the end. At the same time, the input data is shifted bit by bit viathe MISO line into the IC-Modul with the same clock pulse. Prior toeach such shift procedure, the module sets the LOAD line to high. Inthis way, the parallel outputs of all shift register modules receive thedata from the input buffers in the previous cycle. The input shiftregisters, on the other hand, utilise the positive edges from the LOADsignal to copy all parallel input values simultaneously to their outputbuffers. From there, they are shifted bit by bit to the SSC inputregister area of the IC-Modulduring the current cycle.

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The clock rates of the IC-Moduls can be adapted manually orautomatically in 3 levels and are about 300, 1200 or 4800 Kbit/s. Theload impulse is between 5 and 15 µs long (active low). The delaybetween the load edge (positive edge of the load impulse) and thefirst clock edge (from high to low) is between 1 and 2 µs. Thesevalues are completely uncritical when using the shift register modules74HC165 (Input) and 74HC594 (Output).

An optional SSC RESET line initialises the shift register modulesduring the starting process of the IC-Moduls (i.e. also during eachreset of the module).

With an arrangement of the output and input shift register as shownin this example, all registers are switched in series so that the IC-Modulhas its own output data shifted back into the input registeragain for checking purposes. A test sample shifted through thecomplete chain without a LOAD signal allows the IC-Modulto detecthow long the entire chain is by means of the necessary clock signalsfor such a shifting procedure. A centre pickoff between the outputand input modules allows the IC-Modul to also detect thecorresponding number of inputs and outputs of the shift registermodules during this run of a test sample. If bit errors occur, the clockrate is reduced in automatic mode by one level. Hence, with such astructure the IC-Modulcan find the right setting for the chain lengthsand maximum possible transmission rate independently. It is alsopossible, however, to assign the lengths and clock rates manually viathe CDI menu. In this case, the centre pickoff can also be omitted (itis only needed for determining the allocation between inputs andoutputs of the shift register modules). The entire chain length ismonitored constantly during ongoing operation and must match theconfigured length. If the module detects a difference, then it shutsdown the SSC communication and reports an error status via itsstatus register.

The IC-Modulcan operate a maximum of 32 shift registers. You canuse them as output or/and input shift registers.

Note on cycle time: The cycle time of the shift register interface isnormally independent of its chain length since the IC-Modulin itswork cycle only starts the transmission of a shift procedure. The shiftprocedure itself then takes place independently of the work cycle ofthe IC-Moduls. Its length is determined by the number of cycles aswell as the clock rate. After completion of a shift procedure, the next

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shift cycle starts with the next work cycle of the module. Themaximum delay between the completion and start of a shift cycle is10 ms.

Note ! If the shift procedure is longer than a work cycle of themodule, the cycle time is determined by the length and speed of theshift register chain.

4.8 ScripterThe IC-Modul includes a software component that allows you to setup customer-specific data exchange protocols for SDI or CDI serialinterfaces. If, for example, the module is to communicate in anapplication with a serial-controlled servomotor, this servomotorexpects a preset protocol to be processed in order to receive theactuator values or to return sensor values. With the aid of theScripter you can load small executable program sequences into themodule that are then executed there cyclically. With the appropriatedata exchange protocol the module can receive such actuator valuese.g. via CANopen and transmit these via the serial interface of themodule (SDI or CDI) to the servomotor. The program sequencesrequired are loaded once into the module in the form of a script viathe CDI interface of the module and then always executed therecyclically. KUNBUS provides you with a PC tool for creating andtesting such scripts. You can read all the necessary details in theseparate manual on the Scripter.

NOTICE! Please note that when using the Scripter and activatinga script the interface (CDI or SDI) selected for its communicationis always assigned for the Scripter. If you choose the CDI interface,you can then no longer use this interface to check and enter moduleparameters ("CDI menus" are then no longer available). If youchoose the SDI interface as a serial communication channel for theScripter, you can then no longer process any Modbus protocol withaccess to the memory register via this interface.

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5 Commissioning

5.1 InstallationThe main board is connected to the device controller via a 32-pinconnector strip. Thus, you have the option to plug the module directlyinto your DIL socket.

NOTICE If the module is plugged in and unplugged frequently, mechanicalstresses may damage the module.Use a zero insertion force socket to prevent damage.

Pin assignment on theapplication interface

Illustration 7: Start point view

When you view your module from above, you will find a printedtriangle in one corner.

The counting of the pins starts with the underlying pin which is thencontinued U-shaped and ends with the allocation 32 at the oppositepin.

Illustration 8: Pin Assignment

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In the table below, we have compiled the pin assignment on theapplication interface for you.

Master ModePin Application

sideDirection Electrical

specificationsTemperature range (-40 C to 85 C)Tolerance:Min. Typical Max.

1(1) VCC 5.0 V [IN] 4.75 V 5.0 V 5.25 V Imax = 150 mAVCC 3.3 V [IN] 3.15 V 3.3 V 3.45 V Imax = 200 mA

2 SPI Reset [OUT] - - 3.3 V, 4 mA3 SPI Load [OUT] - - 3.3 V, 4 mA4 SPI data out [OUT] - - 3.3 V, 4 mA5 SPI data in [IN] -0.1 V 2.0 V (2) 5 V6 SPI data mid [IN] -0.1 V 2.0 V (2) 5 V7 SPI clock [OUT] - - 3.3 V, 4 mA8 Module Reset [IN] -0.1 V - 5 V9 VC DC Converter 5.0 V [IN] 4.75 V 5.0 V 5.25 V

VC DC Converter 3.3 V [IN] 3.15 V 3.3 V 3.45 V10-12 Reserved Do not connect!13 CAN L [IN/OUT] (3) (3) (3)14 CAN H [IN/OUT] (3) (3) (3)15-18 Reserved Do not connect!19 GND (isolated for bus

connection)- - - -

20 + 5 V (isolated for busconnection)

- - - -

21-23 Reserved Do not connect!24 GND [IN] - - -25 LED Module Status [OUT] - - 3.3 V, 4 mA26 Reserved [IN] - - -27 CDI (UART) TX [OUT] - - 3.3 V, 4 mA28 CDI (UART) RX [IN] -0.1 V 2 V (2) 5 V29 SDI (UART) RX [IN] -0.1 V 2 V (2) 5 V30 SDI (UART) TX [OUT] - - 3.3 V, 4 mA31 RS-485 TX en [OUT] - - 3.3 V, 4 mA32 GND [IN] - - -

Table 2: SSC Master Mode

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Slave Mode ( Activation via Modbus Register )Pin Application

sideDirection Electrical

specificationsTemperature range (-40 C to 85 C)Tolerance:Min. Typical Max.

1(1) VCC 5 V [IN] 4.75 V 5.0 V 5.25 V Imax = 150 mAVCC 3.3 V [IN] 3.15 V 3.3 V 3.45 V Imax = 200 mA

2 Reserved Do not connect!3 SPI Slave Ready [OUT] - - 3.3 V, 4 mA4 SPI data in [IN] -0.1 V 2 V (2) 5 V5 SPI data out [OUT] - - 3.3 V, 4 mA6 SPI Slave Select [IN] -0.1 V 2 V (2) 5 V7 SPI clock [IN] -0.1 V 2 V (2) 5 V8 Module Reset [IN] -0.1 V - 5 V9 VC DC Converter 5.0 V [IN] 4.75 V 5.0 V 5.25 V

VC DC Converter 3.3 V [IN] 3.15 V 3.3 V 3.45 V10-12 Reserved Do not connect!13 CAN L [IN/OUT] (3) (3) (3)14 CAN H [IN/OUT] (3) (3) (3)15-18 Do not connect! Do not connect!19 GND (isolated) - - - -20 + 5 V (isolated) - - - -21-23 Reserved Do not connect!24 GND [IN] - - -25 LED Module Status [OUT] - - 3.3 V, 4 mA26 Reserved [IN] -0.1 V 2 V (2) 5 V27 CDI (UART) TX [OUT] - - 3.3 V, 4 mA28 CDI (UART) RX [IN] -0.1 V 2 V (2) 5 V29 SDI (UART) RX [IN] -0.1 V 2 V (2) 5 V30 SDI (UART) TX [OUT] - - 3.3 V, 4 mA31 RS-485 TX en [OUT] - - 3.3 V, 4 mA32 GND [IN] - - -

Table 3: SPI Slave Mode(1) The module is available optionally with 5 volt or 3.3 volt.

(2) A logical High is detected from 2 Volts.

(3) According to ISO1189-2

Function The individual pins establish the contact to the following functions:– Pin 1 and 9: Power supply.– Pin 2 – 7: SPI Slave interface.– Pin 8: Module reset– Pin 13 – 15 and 19 - 20: Fieldbus– Pin 27 – 31: Serial communication (SDI/CDI)

NOTICE An example of the connection options can be found in Appendix 2.

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Connection options to the SDIinterface

You can establish the connection to the SDI in RS232 or RS485mode:

You need an RS232 level converter for operating in RS232 mode.

Illustration 9: Connection for the SDI via RS 232

The TX PIN is not used with this connection.C

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Illustration 10: Connection option for the SDI using RS485

You need an RS485 level converter for operating in RS485 mode.

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Connection options to theCDI interface

You can establish the connection to the CDI in RS232 mode:

Illustration 11: Connection option for the CDI

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5.2 ConfigurationThis section describes how to configure the module and associatedcomponents and applications.

NOTICE Ø The module has no undo function.èChanges are applied after a reset or start of the operating mode without

any further confirmation.ð If you want to reset all values, use the function "Reset to factory

settings". [} 106] Please note that all previous settings made will be lost.

Configuration using the CDITo configure the Modul and put it into operation using the CDI, youneed a PC or notebook with a serial interface (RS-232) or USB/serialadapter. Make sure that the adapter drivers are installed.

Communication with the CDI (Configuration and Debug Interface) ofthe module takes place using a terminal program (e.g. PuTTY forMicrosoft Windows®).

TIPP!: Das CDI is suitable for configuration during the developmentand for diagnostic purposes. To configure several modulesautomatically, we recommend performing the settings with Modpoll.You can find an introduction and example of this in the AppendixConfiguration via Modpoll [} 119].

Configuration using the SDI The IC-Modul has a UART interface with 3.3 V logic levels. Yourmain board must convert these lines to standardised RS-485 signalsso that Modbus/RTU devices can access these. Conversion tostandardised RS-232 signals is generally necessary forcommunication with a PC. The base board of the evaluation boardhas both interfaces that can each be selected via jumpers.

Configuration using the SDI requires a Modbus master device.

One of the following devices is suitable for this:– Master computer,– Control panel,– Programming device,– SPS with the possibility of Modbus-RTU communication.

To communicate with the SDI of the module using a PC, you needModbus software (e.g. Modpoll).

5.3 Firmware UpdateIf a firmware update is required, please contact our support([email protected]). We will be delighted to provide you with all theinformation you need for your product.

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mailto:[email protected]


6 Memory Register

6.1 Overview of the Memory RegisterThe storage unit is the central component for all functions of the IC-Module. It is subdivided into individual Memory Register with a widthof 16 bits each. In these Memory registers the following information isstored:– Input and output data– Configuration settings– Module Status– Error states

The functionality of the addressing was incorporated from Modbus.The register assignment depends on the application and is notspecified by the Modbus specification. A Memory Register accordingto this specification has a register number between 1 (0x0001) and amaximum of 65536 (0x10000), of which the module only uses a smallpart, however.

With 8-bit values, 1 byte remains unused. 32-bit values are stored in2 registers.

The 16-bit values are stored internally in the memory in Little Endianorder. This must be taken into account when you access data via thefieldbus interface, SDI or SSC.

NOTICE! In the description of the individual memory registersand CDI, the memory registers are also referred to as Modbusregisters.

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Bitwise access to input andoutput data

Optionally, you can address input and output data areas bitwise. Thefunctions 01 Read Coil Status, 02 Read Input Status and 05 ForceSingle Coil are defined in Modbus for this purpose. Since each bithas a separate address, they are assigned to the bits in the registersas follows: Coil 0x0001 corresponds to the lowest value bit 0 ofregister 0x0001, Coil 0x0002 corresponds to bit 1, etc. coil 0x11 isthe bit 0 from register 0x0001 etc.

The table below shows the start addresses of the data areas:

Area Memory Register Coil/Input AddressInput SSC 0x1001 - 0x1080 0x0001 – 0x0800Input SDI 0x1401 – 0x1500 0x2001 – 0x4000Input DPR 0x1c01 … 0x6001 …Output SSC 0x2001 – 0x2080 0x8001 – 0x8800Output SDI 0x2401 – 0x2500 0xa001 – 0xb000Output FBS 0x2801 - 0x2880 0xc001 – 0xe001

Register assignment of the memory areaThe following table contains a brief overview of the registerassignment of the general memory area. You can find a detailedoverview of the individual registers on the following pages.

Register number Assignment Description0x0001 – 0x0100[} 45]

General Device Para-meters

e.g. Setting of the bitrates,mailbox sizes etc.

0x0101 – 0x0e00 Reserved -0x0e01 – 0x0ea0 Register for mapping

the output dataEach channel occupies 2 x 8 registers

0x0f01 – 0x0xf40[} 68]

Register for mapping ofthe extended DataBroker

16 mappings occupy 4 registers each

0x1001 – 0x2000[} 69]

Input memory of thecommunication chan-nels

Each communication channelhas a preallocated memoryarea of 128 - 256 registers.

0x2001 – 0x3000[} 70]

Output memory of thecommunication chan-nels

Each communication channelhas a preallocated memoryarea of 128 - 256 registers.

0x3001 – 0x4000 Reserved -0x4001 – 0x5000 Fieldbus-specific

(s. following table)See the description of the individual fieldbus variants

0x5001 – 0x10000 Reserved -

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The following table contains a brief overview of the registerassignment of the memory area for CANopen. You can find adetailed overview of the individual registers on the following pages.

Register Designation Register Designation0x4001 [} 71] Fieldbus Status 0x4002 [} 71] Module Status0x4003 [} 71] Fieldbus Vendor

ID, High Byte0x4004 [} 71] Fieldbus Vendor

ID, Low Byte0x4005 Reserved 0x4006 Reserved0x4007 [} 72] Fieldbus Version,

High Byte0x4008 [} 72] Fieldbus Version,

Low Byte0x4009 [} 72] Firmware Version 0x400a [} 72] Serial number,

High Byte0x400b [} 72] Serial number,

Low Byte0x400c [} 73] current Fieldbus

Node ID0x400d Configured Field-

bus Address0x400e SSC Node ID

0x400f [} 73] current FieldbusBitrate

0x4010 [} 74] Configured Field-bus Bitrate

0x4011 [} 74] Fieldbus Config-uration Bits, HighWord

0x4012 [} 74] Fieldbus Config-uration Bits, LowWord

0x4013 Reserved 0x4014 [} 76] Product Code,High Word

0x4015 [} 76] Product Code,Low Word

0x4016-0x4035[} 77]

Product Name

0x4036 [} 77] Size of input im-age

0x4037 [} 77] Size of output image

0x4101 [} 78] LSS Status - -

Also see about this

2 [} 67]

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6.2 General Device Parameters0x0001 Set operating mode In this memory register you have the option, the operating mode to

set

Modbus Register 0x0001Value Range 0x0000-0x0003Default Value 0x0000Number of bytes available 2Permanently stored NoAccess Read/WriteMeaning0x0000 or 0x0001 Operation

Cyclical data exchange takes place.0x0002 Restoring default settings (Factory Reset)

Resetting of all permanent parameters totheir original respective settings. A modulereset takes place automatically and does nothave to be done manually here.

0x0003 ResetImplementing a reset. Your settings can firstbe applied after a reset.

0x0002-0x0003 Currentmodule status

In these memory registers you will find information for the currentmodule status.

Bit 5 indicates whether there is an error in the configuration of theSSC Master mode. It is only set, however, during the initialisation ofthe module. If an error occurs during ongoing operation, this is notdisplayed here.

Memory Register 0x0002 (bit 0-15) contains the Low Word, MemoryRegister 0x0003 (bit 16-31) contains the High Word.

Modbus Register 0x0002-0x0003Value Range -Initial value -Number of bytes available 2Permanently stored NoAccess Read OnlyMeaningBit 0 Fieldbus Run State

1: The field bus is in cyclical data exchange0: The cyclical data connection is interrupted

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Bit 1 SSC SSR Master Run State1: The synchronous serial interface is in SSC mode and is exchanging data cyclically0: No cyclical data exchange takes place.

Bit 2 SSC Mapping Configuration Error State1: Configuration error in the mapping of theSCC interface.0: Configuration is ok.

Bit 3 SDI Mapping Configuration Error1: Configuration error in the mapping for theSDI.0: Configuration is ok.

Bit 4 Fieldbus Communication Mapping Configuration Error1: Configuration Error in the Mapping for theFieldbus Interface.0: Configuration is ok.

Bit 5 SSC SSR Master Configuration Error State1: General Configuration Error in the SSCSSR Master Mode0: Configuration is ok.

Bit 6 SDI Configuration Error1: General Configuration Error of the SDI Interface.0: Configuration is ok.

Bit 7 Fieldbus Communication Configuration Error1: General configuration error of the FBS interface0: Configuration is ok.

Bit 8-13 ReservedBit 14 Extended Mapping Error

1: Configuration error in the mapping0: Configuration is ok

Bit 15 Script Run Status1: Script was loaded successfully and is running cyclically.0: Script is stopped

Bit 16 Script Error State1: An error has occurred during execution ofthe script0: Script runs without errors

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0x0004 Set device addressfor the SDI interface

In this memory register you have the option, to set a unique deviceaddress for communication via the SDI interface (Modbus)

A Modbus network (RS485) can consist of several modules.Therefore, the Modbus protocol provides the unique addressing viadevice addresses. If you want to access the IC-Modulwith a ModbusMaster (e.g. PC with Modpoll), the Master must use the deviceaddress set in this register as the first byte in the send telegram.

The new settings are applied after a reset (Power Off/On or writeMemory Register 0x0001 with value 0x0003).

Modbus Register 0x0004Value Range 0x01-0xF7Default Value 0x01Number of available bytes

1

Permanently stored YesAccess Read/Write

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0x0005 Set bitrate for the SDIinterface

In this memory register you have the option, to define with whichbitrate the SDI interface should communicate.

Automatic bitrate detection means that the module tests the followingbitrates until it has received a correct Modbus-RTU telegram:

• 2400 bit/s

• 4800 bit/s

• 9600 bit/s

• 19200 bit/s

• 38400 bit/s

• 57600 bit/s

• 115200 bit/s

NOTICE! During automatic bitrate detection the module does notsend a reply to the master until the correct bitrate has beendetected. This procedure can require up to 40 polls of themaster.

TIP: Set a fixed bitrate if the automatic bitrate detection lasts toolong for you.The new settings are applied after a reset (Power Off/On or writeMemory Register 0x0001 with value 0x0003).

Modbus Register 0x0005Value Range 0x00-0x07Default Value 0x00Number of available bytes

1

Permanently stored YesAccess Read/WriteMeaning0x00 Automatic bitrate detection0x01 2400 bit/s0x02 4800 bit/s0x03 9600 bit/s0x04 19200 bit/s0x05 38400 bit/s0x06 56700 bit/s0x07 115200 bit/s

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0x0006 Set parity bits for theSDI interface

In this memory register you have the option, to set the parity bit forthe data transmission of the SDI interface.

The number of stop bits is adjusted automatically to the parity toensure that a transmission always contains the same number of bits.


Modbus Register 0x0006Value Range 0x00-0x02Default Value 0x00 (Even Parity)Number of available bytes

1

Permanently stored YesAccess Read/WriteMeaning0x0000 Even Parity, 1 Stop-Bit0x0001 Odd Parity, 1 Stop-Bit0x0002 No Parity, (2 Stop-Bits)

0x0007 Current bitrate of theSDI interface

In this memory register you will find information about the currentlyused bitrate of the SDI interface.

Modbus Register 0x0007Value Range 0x0000-0x0007Initial value -Number of bytes available 1Permanently stored NoAccess Read OnlyMeaning0x0000 The bitrate is unknown or has not yet been

determined by the automatic bitrate detection.

0x0001 2400 bit/s0x0002 4800 bit/s0x0003 9600 bit/s0x0004 19200 bit/s0x0005 38400 bit/s0x0006 57600 bit/s0x0007 115200 bit/s

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0x0012 Set bitrate for the CDIinterface

In this memory register you have the option, to set the Bitrate for theCDI


Modbus Register 0x0012Value Range 0x01-0x07Default Value 0x07 (115200 bit/s)Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x01 2400 bit/s0x02 4800 bit/s0x03 9600 bit/s0x04 19200 bit/s0x05 38400 bit/s0x06 56700 bit/s0x07 115200 bit/s

NOTICE Automatic bitrate detection with the CDI is not possible.Ø If the configuration that was entered is invalid, the corresponding

registers use the following settings in order not to block the interface byincorrect data:

è115200 bit/s, 1 stop bit, even parity

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0x0013 Set transmissionformat for the CDI interface

In this memory register you have the option, to set the format of thedata transmission for the CDI interface

Modbus Register 0x0013Value Range 0x00-0x07Default Value 1Number of bytes available 1Permanently stored YesAccess Read/WriteMeaningBit 0 Parity Enable (PEN)

1: Activate parity check0: Do not activate parity check

Bit 1 Even or Odd (EOP)Only relevant if parity check is activated.1: Odd Parity0: Even Parity

Bit 2 Stop Bit (STB)1: Use synchronisation with 2 stop bits0: Use synchronisation with 1 stop bit.

Example: The value "0x05" ("00000_101b") means:– Bit 0: (1) Activate parity check.– Bit 1: (0) Set Even Parity.– Bit 2: (1) Use synchronisation with 2 stop bits.

Bit order:

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0SBT EOP PEN

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0x0014 Current bitrate of theCDI

In this memory register you will find information about the currentlyused bitrate for the CDI interface.


Modbus Register 0x0014Value Range 0x01-0x07Number of bytes available 1Permanently stored NoAccess Read OnlyMeaning0x01 2400 bit/s0x02 4800 bit/s0x03 9600 bit/s0x04 19200 bit/s0x05 38400 bit/s0x06 57600 bit/s0x07 115200 bit/s

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0x0015 Current datatransmission format of theCDI interface

In this memory register you will find information about the currentformat of a data byte for the CDI .

Modbus Register 0x0015Value Range 0x00-0x07Number of bytes available 1Permanently stored NoAccess Read OnlyMeaningBit 0 Parity Enable (PEN)

1: Activate parity control0: Do not activate parity control

Bit 1 Even or Odd (EOP)Only relevant if parity control is activated.1: Odd Parity0: Even Parity

Bit 2 Stop Bit (STB)1: Use synchronisation with 2 stop bits0: Use synchronisation with 1 stop bit.

Example: The value "0x05" ("00000_101b") means:– Bit 0: (1) Parity control activated.– Bit 1: (0) Even Parity Control set.– Bit 2: (1) Synchronisation with 2 stop bits used.

Bit order:

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0SBT EOP PEN

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0x0016 Configure SSC mode In this memory register you have the option, to set the SSC mode ofthe module

You can operate the module in slave mode or master mode.

Modbus Register 0x0016Value Range 0x0000-0x0003Default Value 0x01Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x00 SSC SSR Master Mode deactivated0x01 SSC SSR Master Mode

(shift register, automatic detection)0x02 SSC SSR Mode

(slide register, manual configuration)0x03 SSC SPI Slave Mode

0x0017 Current SSC Mode In this memory register you will find information on the current SPI/SSC mode of the module.

You can find further information on this topic in section"Synchronousserial interface [} 23]".

Modbus Register 0x0017Value Range 0x0000-0x0003Initial value 0x01Number of bytes available 1Permanently stored NoAccess Read OnlyMeaning0x00 SSC SSR Master Mode deactivated0x01 SSC SSR Master Mode (shift register,

automatic detection)0x02 SSC SSR Mode (shift register,

manual configuration)0x03 SSC SPI Slave Mode0x04 SSC SSR Master Mode Error Status

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0x0018 Configure SPI mode In this memory register you have the option, Clock and data level forthe SPI interface to set

This setting is only used in the SPI slave mode. In SSC Master Modethe SPI Controller always uses setting 4: "lagging edge, CLK high,MSB first" (see also Synchronous serial interface [} 23])

Modbus Register 0x0018Value Range 0x0001-0x0004Default Value 4Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x0001 Leading edge

(CPHA=0, CLK low (CPOL=0), MSB first0x0002 Leading edge

(CPHA=0, CLK high (CPOL=1), MSB first0x0003 Lagging edge

(CPHA=1, CLK low (CPOL=0), MSB first0x0004 Lagging edge

(CPHA=1, CLK high (CPOL=1), MSB first

0x0019 Current configurationof the SPI controller

In this memory register you will find information about the currentconfiguration of the clock and data level of the SPI controller.

Modbus Register 0x0019Value Range 0x0000-0x0004Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0x0000 SSC/SPI deactivated0x0001 Leading edge

(CPHA=0, CLK low (CPOL=0), MSB first0x0002 Leading edge

(CPHA=0, CLK high (CPOL=1), MSB first0x0003 Lagging edge

(CPHA=1, CLK low (CPOL=0), MSB first0x0004 Lagging edge

(CPHA=1, CLK high (CPOL=1), MSB first

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0x001a Set bitrate on theSSC interface

In this memory register you have the option, to set the bitrate on theSPI controller

Modbus Register 0x001aValue Range 0x00-0x03Default Value 0x01Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x00 Deactivated0x01 ~300kbit0x02 ~1200 Kbit/s0x03 ~4800 Kbit/s

0x001b Current bitrate on theSSC interface

In this memory register you will find information about the currentbitrate of the SSC interface.

These values are only significant if you operate the module in slavemode. In slave mode the CANopen- determines the bitrate.

Modbus Register 0x001bValue Range 0x00-0x03Default Value -Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0x00 Bitrate not set or invalid0x01 ~300kbit0x02 ~1200 kbit/s0x03 ~4800 kbit/s

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0x001c Configure number ofSSC Outputs

Prerequisite: You have activated the Master Mode

In this memory register you have the option, to set the number ofoutput shift register modules for the cyclical data exchange. The sizeof each shift register module is 8 bits.

When you carry out a manual configuration here, you must makesure that the automatic register detection is not set, since thesevalues are given priority. If the number of connected shift registermodules does not match this register, the SSC interface switches toerror state.

Modbus Register 0x001cValue Range 0-32Default Value 0Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x00 0 Shift registers0x01 1 Shift registers0x02 – 0x1F …..0x20 32 Shift registers

0x001d Current number ofoutput shift register modules

Prerequisite: You have activated the Master Mode.

In this memory register you will find information about the currentnumber of output shift register modules for the cyclical dataexchange on the SSC interface.

Modbus Register 0x001dValue Range 0-32Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0x00 0 Shift registers0x01 1 Shift registers0x02 – 0x0F …0x20 32 Shift registers

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0x001e Configure number ofinput shift register modules

Prerequisite: You have activated the Master Mode

In this memory register you have the option, to set the number ofinput shift register modules for the cyclical data exchange. The sizeof each shift register module is 8 bits.

When you carry out a manual configuration here, you must makesure that the automatic register detection is not set, since thesevalues are given priority. If the number of connected shift registermodules does not match this register, the SSC interface switches toerror state.

Modbus Register 0x001eValue Range 0-32Default Value 0Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0x00 0 Shift registers0x01 1 Shift registers0x02-0x1F …0x20 32 Shift registers

0x001f Current number ofinput shift register modules

Prerequisite: You have activated the Master Mode.

In this memory register you will find information about the currentnumber of output shift register modules for the cyclical dataexchange on the SSC interface.

Modbus Register 0x001fValue Range 0-32Default Value -Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0x00 0 Shift registers0x01 1 Shift registers0x02-0x1F …0x20 32 Shift registers

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0x0020 Module type This register contains the unique identification number for the module type of the KUNBUS-IC modules. This module type provides information regarding which product type it is and which fieldbus the module is used for.

Modbus Register 0x0020Value Range 0x00-0xffInitial valueNumber of bytes available 1Permanently stored YesAccess Read OnlyMeaning

IC-Modul for CANopen

0x0021 Default values in thedata communicationconfigure

In this memory register you have the option, to specify the behaviourof the memory register in case no data from outside is receivedanymore on the SSC Modbus RTU or fieldbus interface.

Modbus Register 0x0021Value Range 0x00-0x3fDefault Value 0x00Number of bytes available 1Permanently stored YesAccess Read/WriteMeaningBit 1, Bit 0: SS1 and SS0 (SSC interface)

00: Output data is set to 0 (default value)01: Output data is set to 110: The data last written is retained

Bit 3, Bit 2: FB1 and FB0 (fieldbus interface)00: Output data is set to 0 (default value)01: Output data is set to 110: The data last written is retained

Bit 5, Bit 4: SS1 and SS0 (SDI interface)00: Output data is set to 0 (default value)01: Output data is set to 110: The data last written is retained

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0SD SD FB FB SS SS

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0x0022 Validity period of theprocess data on the SSCinterface

In this memory register you have the option, to set the validity periodof the process data on the SSC interface

The next production must take place within the specified period,otherwise the input data is marked as invalid. Output registers thatare supplied with process data via the Data Broker from this inputarea then adjust themselves to the preselected safe values. You setthese values in the Memory Register 0x0021.

You can find detailed information on this topic in section "Data Broker[} 13]".

Modbus Register 0x0022Value Range 0-255Default Value 0x00Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0 The data is valid indefinitely in acyclic

operation.1-255 Validity period in milliseconds (ms)

The next production must follow within thistime

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0x0023 Validity period of theprocess data on the SDIinterface

In this memory register you have the option, to define the validityperiod of the process data on the SDI interface.






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0x0024 Validity period of theprocess data on theCANopen interface

In this memory register you have the option, to define the validityperiod of the process data on the CANopen interface.






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0x0025 Configure shift chain In this memory register you have the option, to use the first input andoutput register of the shift chain for connecting additionalcomponents (e.g. Status LEDs, Switches). If you do not want to useany further components, all registers can be used for the datatransmission.

Modbus Register 0x0025Value Range 0x00 – 0x07Default Value 0x03Number of bytes available 1Permanently stored YesAccess Read/WriteMeaningBit 2, Bit 1 Input register of the shift chain

00: all registers are used for the data transmission.01: Input register 0 is used for fieldbusswitches.10: Input register 0 and 1 are used for fieldbus switches.

Bit 0 Output register of the shift chain0: all output registers are used for the datatransmission.1: Output register 0 is used for the statusLEDs.

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0x0026 Current assignmentof the shift chain

In this memory register you will find information about using the firstinput and output register of the shift chain. You can detect whetheradditional components (e. g. status LEDs, switches) are used orwhether all registers are used for the data transmission.

Modbus Register 0x0026Value Range 0x00 – 0x07Number of bytes available 1Permanently stored YesAccess Read/WriteMeaningBit 0 Output register of the shift chain

0: all output registers are used for the datatransmission.1: Output register 0 is used for the statusLEDs.

Bit 1, Bit 2 Input register of the shift chain00: all registers are used for the data transmission.01: Input register 0 is used for fieldbusswitches.10: Input register 0 and 1 are used for field-bus switches.

0x0032 Script EnableRegister

In this register you have the option to activate or to deactivate theexecution of a script.

You will find information about creating a script in the "KUNBUS-Scripter" documentation supplied.

Modbus Register 0x0032Value Range 0x00 - 0xffDefault Value 0x00Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0 Deactivated1 Activated

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0x0033 Script Port Register In this register you have the option to select the interface by whichthe script should communicate.

NOTICE Please note that activation of a script influences the individual port.E.g.: If the CDI port is used by the script, the CDI menu can no longer beused until you have deactivated the script.If the CDI port is used by the script, you can only deactivate the script bywriting the value 0 in the memory register 0x0032. You must restart themodule to apply the deactivation.

Modbus Register 0x0033Value Range 0x00-0x01Default Value 0x01Number of bytes available 1Permanently stored YesAccess Read/WriteMeaning0 CDI Interface1 SDI Interface

0x0034 Script Status Register In this register you will find information about the current status of thescripts.

Modbus Register 0x0034Value Range 0x00-0xffDefault Value 0x00Number of bytes available 1Permanently stored NoAccess Read OnlyMeaning0 The running script is in the initialisation

phase1 The script is running cyclically2 The running script is waiting for data input or

for a waiting period to elapse3 The script was stopped or no script for run-

ning is loaded or running script is deactiv-ated

4 Script cannot run due to a serious error

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0x0035 Script Loop Register In this register you have the option to monitor whether your script isrunning. During each run of the script, the value in the register isincremented.

Modbus Register 0x0035Value Range 0x0000- 0xffffInitial value 0Number of bytes available 2Permanently stored NoAccess Read Only

0x0036 SSC Error Register In this memory register you will find information about possible errorsthat have occurred when connecting the module to an external shiftregister chain.

Modbus Register 0x0036Value Range 0x00-0x05Default Value -Number of bytes available 1Permanently stored NoAccess Read OnlyMeaning0 No Error1 Centre tap is not receiving any data, line de-

fective2 Data In is not receiving any data3 Number of input registers is not as expected4 Number of output registers is not as expec-

ted5 General error, e.g. electrical faults

Also see about this2 Data Broker [} 13]

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6.3 Register for the MappingIn the following Memory registers you have the option to define thedata mapping of the Data Broker for the input and output areas of theinterfaces.

For each consumer (target register) there is a register area, in whichall sources ("producers") are listed from which it obtains data. Thedata of the source areas is stored in the target area continuously insuccession ("consumer") as well as the entries for this consumer. Amaximum of 8 entries per consumer are possible. Each entryoccupies 2 Memory Register. In the first Memory Register you canspecify the base number of the Memory Register from which the datais copied. In the second Memory Register you determine the numberof values you want to copy. Here, you can also exchange the HighByte and Low Byte (swap).

In the event of an invalid mapping, an error message flag is set in thestatus register 0x0002.

In section " Data Broker [} 13]" we will explain how a mapping works.You will also find an example of a mapping.

0x0e01-0x0e08 Output DataMapping SSC

Modbus Register 0x0e01 – 0x0e08Value Range -Default Value 0x00Number of bytes available 16Permanently stored YesAccess Read/Write

0x0e21-0x0e28 Output DataMapping SDI


0x0e41-0x0e48 Output DataMapping Fieldbus


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0x0f01-0xf40 ExtendedOutput Mapping

In these memory registers have the option, to define a bit-accuratemapping. Individual bits can be mapped from any input data area tothe output data area of your choice.

You can create a total of 16 different mappings.

Please note that a bit-accurate mapping requires very much run-timeperformance. Only use this function if you really need it.

To define a bit-accurate mapping, 4 registers must be defined ineach case:– In memory register 0xf01 enter the input memory register from which

your data should originate.– In memory register 0xf02 enter the output memory register in which you

require the data.– In memory register 0xf03 enter the source and target position of the bits

that you want to map.– Define the source position via bit 0-3.– Define the target position via bit 4-7.

– In the memory register 0xf04 define the number of memory registersthat you want to copy.– With bit 15 you can optionally swap the High Byte and Low Byte.

Modbus Register 0x0f01 – 0xf40Value Range -Default Value 0x00Number of bytes avail-able

128

Permanently stored YesAccess Read/WriteMeaningRegister 0, 4, 6, 8,…, 60 Source register numberRegister 1, 5, 9,..., 61 Target register numberRegister 2, 6, 10, ..., 62 Bit 0-3: Source bit position

Bit 4-7: Target bit positionRegister 3, 7, 11,..., 63 Bit 0-14: Number of registers to be copied.

Bit 15: generated when setting a change fromhigh and low byte (swap)

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6.4 Memory of the Communication ChannelsThe following memory registers contain the input and output data ofthe communication channels. Cyclical process data is written there orread from there.

The Data Broker distributes this data cyclically according to theMapping entries. At the same time, the input data of the producers isassigned to the output data of the consumers.

The data can be read from the input registers at any time via theModbus protocol. It is only possible to write to input registers via therespective communication channels (only in the case of SDI is thisthe Modbus communication itself, of course). The initial value in theinput registers is 0 until a register is written with process data.

Output registers that are not written by the Data Broker also containthe initial value 0 regardless of the setting for the drop-off value in theevent of validity periods of the source data being exceeded. Outputregisters can solely be written by the Data Broker. Read access isnot possible via Modbus, however.

0x1001 Input SSC Modbus Register 0x1001-0x1080Coil Address 0x0001 – 0x0800Value Range -Initial value 0x00Number of bytes available 256Permanently stored NoAccess Read Only

0x1401 Input SDIModbus Register 0x1401-0x1480Coil Address 0x2001 – 0x4000Value Range 0x00-0xffInitial value 0x00Number of bytes available 256Permanently stored NoAccess Read/Write

0x1801 Input Fieldbus Modbus Register 0x1801-0x1880Coil Address 0x4001 – 0x6001Value Range -Initial value 0x00Number of bytes available 256Permanently stored NoAccess Read Only

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0x2001 Output SSC Modbus Register 0x2001-0x2080Value Range -Coil Address 0x8001 – 0x8800Initial value 0x00Number of bytes available 256Permanently stored NoAccess Read Only

0x2401 Output SDI Modbus Register 0x2401-0x2480Coil Address 0xa001 – 0xb000Value Range -Default Value 0x00Number of bytes available 256Permanently stored NoAccess Read Only

0x2801 Output Fieldbus Modbus Register 0x2801-0x2880Coil Address 0xb001 – 0xe001Value Range -Initial value 0x00Number of bytes available 256Permanently stored NoAccess Read Only

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6.5 Fieldbus specific Registers0x4001 Fieldbus Status In this memory register you will find information about the current

communication status of the fieldbus interface.

Modbus Register 0x4001Value Range 0x0000 - 0x0005Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0 Status is undefined1 Bus in operation2 Bus off error3 Invalid node ID or invalid bitrate

0x4002 Module Status In this memory register you will find information about the CANopenstate of the module.

Modbus Register 0x4002Value Range 0-4Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning0 Initialisation1 Error State2 Fieldbus is stopped3 Start-up phase4 Operation

0x4003-0x4004 ManufacturerID

In this memory register you have the option, to change the fieldbusspecific manufacturer number for your application.

The Memory Register 0x4003 contains the High Word, MemoryRegister 0x4004 contains the Low Word of the manufacturer number.

Modbus Register 0x4003 - 0x4004Value Range -Default Value 725 (0x000002d5)Number of bytes available 4Permanently stored YesAccess Read/WriteMeaning You can find the definition from the index

0x1018:01 in the CANopen object directory

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0x4007-0x4008 FieldbusVersion

In this memory register you will find information about the fieldbusversion.

The Memory Register 0x4007 contains the High Word, MemoryRegister 0x4008 contains the Low Word of the fieldbus version.

Modbus Register 0x4007 - 0x4008Value Range 0x00000000 - 0xffffffffDefault Value 0Number of bytes available 4Permanently stored YesAccess Read OnlyMeaning You can find the definition from the index

0x1018:03 in the CANopen object directory

0x4009 Firmware Version In this memory register you will find information for the firmwareversion.

Modbus Register 0x4009Value Range 0x0000 - 0xffffDefault Value -Number of bytes available 2Permanently stored ConstantAccess Read Only

0x400a-0x400b SerialNumber

In these memory registers have the option, to change the serialnumber of the IC-Moduls.

In the delivered condition the KUNBUS serial number is stored.

The Memory Register 0x400a contains the High Word, register0x400b contains the Low Word of the serial number.

Modbus Register 0x400a-0x400bValue Range 0x00000000 - 0xffffffffDefault Value KUNBUS Serial numberNumber of bytes available 4Permanently stored YesAccess Read/Write

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0x400c Current In this memory register you will find information about the , withwhich the IC-Modul currently registers on the fieldbus.

You can set these addresses yourself or get them automatically viathe LSS master.

NOTICE If you have set the automatic assignment of the device address via the LSSmaster but no network is connected, this register displays the value "0".The "invalid setting" status appears in the CDI.

Modbus Register 0x400cValue Range 0 - 127 (0x0000 - 0x007f)Default Value -Number of bytes available 2Permanently stored NoAccess Read Only

0x400f Current FieldbusBitrate

In this memory register you will find information about the currentlyset fieldbusbitrate of the module.

Modbus Register 0x400fValue Range 0x0001 - 0x0008, 0xffffDefault Value -Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning

0x0000: Bitrate not yet known0x0001: 10 Kbit/s0x0002: 20 Kbit/s0x0003: 50 Kbit/s0x0004: 125 Kbit/s0x0005: 250 Kbit/s0x0006: 500 Kbit/s0x0007: 800 Kbit/s0x0008: 1000 Kbit/s

0xffff: Bus not connected

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0x4010 Configured FieldbusBitrate

In this memory register you have the option, of storing a bitrate.Whether this bitrate is used depends on the selection you make inthe Memory registers 0x4011-0x4012.

Modbus Register 0x4010Value Range 0 - 8Default Value 0Number of bytes available 2Permanently stored YesAccess Read/WriteMeaning0 Automatic bitrate detection1 10 kbit/s2 20 kbit/s3 50 kbit/s4 125 kbit/s5 250 kbit/s6 500 kbit/s7 800 kbit/s8 1000 kbit/s

0x4011-0x4012 FieldbusConfiguration

In these registers you can define how the IC-Modul receives itsdevice address.

Modbus Register 0x4011 - 0x4012Value RangeDefault Value 0x00000009Number of bytes available 4Permanently stored YesAccess Read/WriteMeaningBit 1 , Bit 0

00: Memory register 0x400d and 0x4010 de-termine the node ID

01: SSC determines the node ID (default, formatacc. SC1- SC0)

10: Node ID and bitrate are assigned via LSSfrom the fieldbus

11: invalidBit 3, Bit 2

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00 Node ID and bitrate are set via codingswitch(requires 2 input shift registers)Setting of the node ID: (Bit 0-3 for settingthe units digit, Bit 4-7 for setting the tens di-git)One value range from 0-9 is allowed per bit.Values:0: Node ID is assigned via LSS from thefieldbus1-99: Node ID of the moduleSetting the bitrate: (bit 8-11)Value Range:0: Automatic bitrate detection1: 10 kBit/s2: 20 kBit/s3: 50 kBit/s4: 125 kBit/s5: 250 kBit/s6: 500 kBit/s7: 800 kBit/s8: 1000 kBit/s9-15: Invalid

01 Node ID and bitrate are set via the shiftregister(requires 2 input shift registers)Setting of the node ID: (Bit 0-3 for settingthe units digit, Bit 4-7 for setting the tens di-git)One value range from 0-9 is allowed per bit.Other values are invalid.Values:0: Node ID is assigned via LSS from thefieldbus1-99: Node ID of the moduleThe device address is set via the shift re-gister. The automatic bitrate detection is ac-cepted.

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10 Node Address and Bitrate are set via 8-Bit Binary ValuesSettings for the bitrate:00:Automatic bitrate detection01: 250 KB10: 500 KB11: 1000 KBSettings for the node ID (bit 5-0)000000: 1000001: 2………….111110: 61111111: 62

11 Invalid

0x4014-0x4015 Product Code In this memory register you will find information about the productnumber of the module. The product code of KUNBUS is stored in thedelivered condition. You have the option to change the product code.

The Memory Register 0x4014 contains the High Word, MemoryRegister 0x4015 contains the Low Word of the product number.

Modbus Register 0x4014-0x4015Value Range 0x00000000 - 0xffffffffDefault Value -Number of bytes available 24Permanently stored YesAccess Read/WriteMeaning The default value is the KUNBUS product

number of the IC-Moduls .

NOTICE This value corresponds to the index 0x1018:02 in the CANopen objectdirectory.

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0x4016-0x4035 ProductName

In this memory register you have the option, to change the productname. The product name of the module assigned by KUNBUS isstored In the delivered condition.

You have up to 32 characters available in ASCII format for the nameassignment.

NOTICE If your product name is shorter than 32 characters, you have to fill up theremaining characters with the value "0".

Modbus Register 0x4016-0x4035Value Range 32-Byte-StringDefault Value "KUNBUS IC CANopen "Number of bytes available 32Permanently stored YesAccess Read/Write

0x4036 Size of Input Image In this memory register you will find information about the number ofbytes the Data Broker can receive via CANopen.

You define this value using the configuration parameters by themaster.

Modbus Register 0x4036Value Range 256Default Value 256Number of bytes available 2Permanently stored NoAccess Read Only

0x4037 Size of Output Image In this memory register you will find information about the number ofbytes the Data Broker can transmit via CANopen.

Modbus Register 0x4037Value Range 256Default Value 256Number of bytes available 2Permanently stored NoAccess Read Only

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0x4101 LSS-Status In this memory register you will find information about the current desLSS.

Modbus Register 0x4101Value Range 0x0000 - 0x0007Default Value 0x0007Number of bytes available 2Permanently stored NoAccess Read OnlyMeaning

Bit 0 STP (Store Parameter)0: current parameter stored permanently1: current parameter stored temporarily

Bit 1 LSN (LSS Node)0: current device address was not con-figured by LSS master1: current device address configured by LSSmaster

Bit 2 LSB (LSS Bitrate)0: current bitrate was not configured by LSSmaster1: current bitrate configured by LSS master

Example: The value 0x0007 (0000_0111b) means:

Bit 0 = 1: current parameter stored temporarily

Bit 1 = 1: current device address configured by LSS

Bit 2 = 1: current bandwidth configured via LSS

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7 Communication model

7.1 Object DirectoryThe standard objects are implemented according to specificationDS302 (Version 4.02) of the CiA. You can find detailed informationabout the CANopen specification at www.can-cia.org.

You can configure some object values using the memory registers.Index Object Name Sub

IndexDescription Data Type Access Comment

1000h Device Type 00h Device Type U32 RO 00000000: no profile1001h Error Register 00h Error Register U8 RO1003h Predefined Error

Field00h Number of errors

occurredU8 RW

01h-05h

Error memory U32 RO

1005h COB-ID Sync 00h SYNC Identifier U32 RW Default: 000000801006h Communication

Cycle Period00h Determines the sync

interval in µsU32 RW

1008h ManufacturerDevice Name

00h Device name Visible string RO Modbus Register4016 - 4025

100Ah Manufacturer soft-ware version

00h Software version Visible string RO

100Ch Guard time 00h Duration (ms)between two guardtelegrams

U16 RW

100Dh Life Time Factor 00h Life Time Factor U8 RW1010h Store Parameters 00h Max number of

memory optionsU8 RO 02h

01h Storage of all para-meters

U32 RW Bitrate and node ID cannot besaved using this command.

02h Storage of the com-munication paramet-ers

U32 RW Bitrate and node ID

1011h Restore Parameters 00h Max number of re-store options

U8 RO 02h

01h Restore all defaultparameters

U32 RW

02h Only restore defaultcommunicationparameters

U32 RW

1014h COB ID EMCY 00h Emergency tele-gram identifier

U32 RO

1015h Inhibit Time EMCY 00h Duration of emer-gency telegram

U32 RO Default: 0000h

1016h Consumer Heart-beat Time

00h Number of entries U8 RO 01h01h Heartbeat cycle and

node IDU32 RW The value of node ID and heart-

beat time must be the multiple of1 ms.

1017h Producer HeartbeatTime

00h Duration (ms)between two heart-beat telegrams

U16 RW

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1018h Identity Object 00h Number of entries U8 RO 04h01h Manufacturer ID U32 RO Memory register 4003 to 400402h Product Code U32 RO Memory register 4014 to 401503h Version number U32 RO Memory register 4007 to 400804h Serial number U32 RO Memory register 400a to 400b

1400h...1407h

Receive PDO Para-meter

00h Number of entries U8 RO 02h01h COB ID PDOx U32 RW02h Transmission mode

of the PDOU8 RW

1600h...1607h

Receive PDOx Map-ping

00h Number of entries U8 RW 08h01h Obj.-Mapping 1 U32 RW02h Obj.-Mapping 2 U32 RW03h Obj.-Mapping 3 U32 RW04h Obj.-Mapping 4 U32 RW05h Obj.-Mapping 5 U32 RW06h Obj.-Mapping 6 U32 RW07h Obj.-Mapping 7 U32 RW08h Obj.-Mapping 8 U32 RW

1800h...1807h

Transmit PDO Para-meter

00h Number of entries U8 RO 05h01h COB ID PDOx U32 RW02h Transmission mode

of the PDOU8 RW

03h Repetition delay U16 RW05h Event-Timer U16 RW

1a00h...1a07h

Transmit PDOxMapping

00h Number of entries U8 RW01h Obj.-Mapping 1 U32 RW02h Obj.-Mapping 2 U32 RW03h Obj.-Mapping 3 U32 RW04h Obj.-Mapping 4 U32 RW05h Obj.-Mapping 5 U32 RW06h Obj.-Mapping 6 U32 RW07h Obj.-Mapping 7 U32 RW08h Obj.-Mapping 8 U32 RW

You have the option to access the fieldbus data bytewise (8bit),wordwise (16bit) and double-wordwise (32bit).

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Fieldbus Output Data (Direction Master)Index Object Name Sub In-

dexDescription Data Type Access Comment

2000h Output Buffer 00h Number of entries U8 RO Access: ByteMemory register 0x2801 to0x288001h

02h...80h

Output Buffer Byte0Byte 1...Byte 127

U8 RO

2001h Output Buffer 00h Number of entries U8 RO

01h02h...80h

Output Buffer Byte128Byte 129...Byte 255

U8 RO

2010h Output Buffer 00h Number of entries U8 RO Access: WordMemory register 0x2801 to0x288001h

02h...40h

Output BufferWord 0Word 1...Word 63

U16 RO


01h02h...40h

Output BufferWord 64Word 65...Word 127

U16 RO

2020h Output Buffer 00h Number of entries U8 RO Access: DoublewordMemory register 0x2801 to0x288001h

02h...20h

Output BufferDWord 0DWord 1...DWord 31

U32 RO


01h02 h...20h

Output BufferDWord 32DWord 33...DWord 63

U32 RO

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Fieldbus Input Data (from the Master)Index Object Name Sub In-

dexDescription Data Type Access Comment

2100h Input Buffer 00h Number of entries U8 RO Access: ByteMemory register 0x1801 to 0x1880

01h02h...80

Input BufferByte 0Byte 1...Byte 127

U8 RO

2101h Input Buffer 00 Number of entries U8 RO

01h02h...80h

Input BufferByte 128Byte 129...Byte 255

U8 RO

2110h Input Buffer 00h Number of entries U8 RO Access: WordMemory register 0x1801 to 0x1880

01h02h...40h

Input Buffer Word 0Word 2...Word 63

U16 RO

2111h Input Buffer 00h Number of entries U8 RO

01h02h...40h

Input Buffer Word 64Word 65...Word 127

U16 RO


01h02h…20h

Input Buffer DWord 0DWord 2...DWord 31

U32 RO Access: DoublewordMemory register 0x1801 to 0x1880


01h02h...20h

Input Buffer DWord 32DWord 33...DWord 63

U32 RO

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8 CDI

8.1 Setting up a Serial ConnectionThe CDI interface of the IC-Module is a UART interface (asynchronous serial interface) with 3.3V CMOS signal level.

If you connect a switch with level converter (e.g. "EXAR -SP3232EUEY") to the application connector via the RX and TXconnections of this interface, an RS232 interface is available to youfor connecting a terminal (you can find details from our sample circuitdiagram under "RS232 Interface for CDI" in the Appendix).

You can connect the serial COMx interface of a PC to such aterminal interface (or a serial USB converter) and then access theCDI menus using a terminal emulation. We provide you with PuTTYas a terminal emulation on our support webpage.

How to start PuTTY:

Illustration 12: Putty Serial

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◦ Change to the "Connection > Serial" view◦ Select the serial interface that you want to access the CDI with (here:

COM1)◦ Configure the interface with the default settings of the CDI interface (for

values see Fig above). Deactivate the dataflow control as well.◦ Change to the "Session" view.◦ Activate "Serial" as connection type. The "Serial line" and "Speed" fields

are already preallocated with the settings you specified beforehand.◦ Assign a name under "Saved Sessions" to save these settings.◦ Click on "Save".◦ Click on "Open".ð The main menu will open in the terminal window.

NOTICE! If the terminal window remains black, click on the [ESC]key to start the data transmission via the CDI.

Illustration 13: Putty Session

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8.2 CDI MenusMain Menu The main menu is your access point for operating the module using

the CDI. After a reset, the module transmits this main menu to theterminal.

--------------------------------------------------KUNBUS-IC – Main Menu--------------------------------------------------1 – Module Information2 – Interface Configuration3 - Monitor Communication4 – Module Status-------------------------------------------------->

Menu 1 – "Module Information"1.Module Information In this menu you will find general information about the module:

– Software revision– Checksum of the firmware– Serial number of the module– Module type (unique throughout KUNBUS)

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Menu 2 – "Interface Configuration"2. Interface Configuration In this menu you have the option to define the operational

parameters for the different interfaces.

Here, you can set the mapping for the data broker.

Changes that you make in these menus are first activated after arestart.

The selection "8 – Set Arbitrary Register" allows you writeaccess to all writeable Modbus registers of the module.

--------------------------------------------------KUNBUS-IC – Interface Configuration--------------------------------------------------1 - SDI Communication2 - CDI Communication3 - SSC Communication4 - SDI Output mapping5 - SSC Output mapping6 - Fieldbus Output mapping7 - Fieldbus Specific8 - Set Arbitrary Register9 - Reset Module10 - Extended Databroker11 - Script Interpreter12 - Reset to Factory Settings--------------------------------------------------

2.1 SDI Communication In this menu you will find information about the settings for theModbus RTU communication. You can configure the values in thesubmenus.

--------------------------------------------------KUNBUS-IC - SDI Communication--------------------------------------------------1 – Bitrate: Automatic Bitrate detection2 – Parity: Even Parity, 1 Stopbit-------------------------------------------------->

2.1.1 SDI CommunicationBitrate

In this menu you have the option, to select the appropriate Bitrate foryour application.

The default value is "Automatic Bitrate detection".

--------------------------------------------------KUNBUS-IC – SDI Communication: Set Bitrate--------------------------------------------------1 – Automatic Bitrate detection2 – 2400 Bit/s3 – 4800 Bit/s4 – 9600 Bit/s5 – 19200 Bit/s6 – 38400 Bit/s7 – 57600 Bit/s8 – 115200 Bit/s-------------------------------------------------->

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2.1.2 SDI Communication- Set Parity

In this menu you have the option to select the appropriate parity foryour application from the displayed values.

The default value is "Even Parity (1 stop-bit)".

The number of stop-bits is based automatically on the parity setting.This ensures that a transmission always contains the same numberof bits per byte.

--------------------------------------------------KUNBUS-IC – SDI Communication: Set Parity--------------------------------------------------1 – Even Parity (1 Stopbit)2 – Odd Parity (1 Stopbit)3 – No Parity (2 Stopbits)-------------------------------------------------->

2.1.3 Set Modbus NodeAddress

In this menu you have the option, to enter the Modbus NodeAddress.

Permitted input values: 1-247

--------------------------------------------------------KUNBUS-IC - SDI Communication: Set Modbus Node Address--------------------------------------------------------Enter a Modbus Node Address between 1 and 247:-------------------------------------------------------->

2.2 CDI Communication In this menu you will find information about the currently set values ofbitrate and parity. In the submenus you can configure the values.

--------------------------------------------------KUNBUS-IC – CDI Communication--------------------------------------------------1 – Bitrate: 115200 Bit/s2 – Parity: Even Parity, 1 Stopbit-------------------------------------------------->

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2.2.1 CDI Communication -Set Bitrate

In this menu you have the option, to select the appropriate Bitrate foryour application.

The default value is 115200 bit/s.

Automatic bitrate detection via the CDI is not possible.

--------------------------------------------------KUNBUS-IC – CDI Communication: Set Bitrate--------------------------------------------------1 – 2400 Bit/s2 – 4800 Bit/s3 – 9600 Bit/s4 – 19200 Bit/s5 – 38400 Bit/s6 – 57600 Bit/s7 – 115200 Bit/s-------------------------------------------------->

2.2.2 CDI Communication - Set Parity

In this menu you have the option to select the appropriate parity foryour application from the displayed values.

The default value is "Even Parity (1 stop-bit)".

The number of stop-bits is based automatically on the parity setting.This ensures that a transmission always contains the same numberof bits per byte.

--------------------------------------------------KUNBUS-IC - CDI Communication: Set Bitrate--------------------------------------------------1 - Even Parity, 1 Stopbit2 - Even Parity, 2 Stopbit3 - Odd Parity, 1 Stopbit4 - Odd Parity, 2 Stopbit5 - No Parity, 1 Stopbit6 - No Parity, 2 Stopbit-------------------------------------------------->

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SSC ModeIn this menu you have the option, to configure the shift register chain.

2.3 Select SSC SSR MasterMode

In this menu you have the following options:– SSC SSR Master Mode, disabled: With this option, you switch off the

SSC.– SSC SSR Master Mode, auto detect shift registers: With this option, the

number of input/output shift registers and the bitrate is determinedautomatically.

– SSC SSR Master Mode, configured shift registers: With this option, youcan define the number of input/output shift registers and the bitrateyourself.– Enter [3] + [Enter] to select this mode as the configuration source.– With the option [9] you open the configuration menu.

– SSC SPI Slave Mode: With this selection you can make the settings forthe SPI Slave Mode– Enter [4] + [Enter] to select this mode as the configuration source.– With the option [9] you open the configuration menu.

--------------------------------------------------KUNBUS-IC- Select SSC SSR Master Mode--------------------------------------------------Mode: SSC SSR Master Mode, configured shift registers

1 - SSC SSR Master Mode, disabled2 - SSC SSR Master Mode, auto detect shift registers3 - SSC SSR Master Mode, configured shift registers4 – SSC SPI Slave Mode

9 - Configure actual selection-------------------------------------------------->

2.3.2 SSC SSR Master Mode,Auto detect shift registers

In this menu, you can define how many shift registers are availablefor the integration of configuration switches and status LEDs.

--------------------------------------------------KUNBUS-IC - SSC SSR Master Mode, auto detect shift registers--------------------------------------------------1 - No. of Fieldbus Switch Registers: 02 - No. of Fieldbus Status-LED Registers: 0-------------------------------------------------->

2.3.2.1 Number of FieldbusSwitch Registers

In this menu, you can define how many input shift registers areavailable for configuration switches.

Permissible input values: 0-2

------------------------------------------------------KUNBUS-IC - SSC No. of Fieldbus Switch registers------------------------------------------------------>

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2.3.2.2 Number of StatusLED Registers

In this menu, you can define how many output shift registers areavailable for status LEDs.


------------------------------------------------------KUNBUS-IC - SSC No. of Fieldbus Status-LED registers------------------------------------------------------>

2.3.3 SSC SSR Master Mode,configure shift registers

Prerequisite: In menu "2.3 - Select SSC SSR Master Mode" youhave selected the configuration source "SSC SSR Master Mode,configure shift registers".

In this menu you have the following options:– Number of input shift registers for configuration switches– Number of output shift registers for status LEDs– Number of input shift registers– Number of output shift registers– Bitrate

--------------------------------------------------KUNBUS-IC- SSC SSR Master Mode, configure shift registers--------------------------------------------------3 - No of Fieldbus Switch Registers: 04 - No of Fieldbus Status-LED Registers: 03 - Number of overall Input Registers: 04 - Number of overall Output Registers: 05 - Configured Bitrate: 300 kBit/s-------------------------------------------------->

2.3.3.1 Number of FieldbusSwitch Registers

In this menu, you can define how many input shift registers areavailable for configuration switches.


------------------------------------------------------KUNBUS-IC - SSC No. of Fieldbus Switch registers------------------------------------------------------>

2.3.3.2 Number of FieldbusStatus LED Registers

In this register, you can define how many output shift registers areavailable for status LEDs.


------------------------------------------------------KUNBUS-IC - SSC No. of Fieldbus Status-LED registers------------------------------------------------------>

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2.3.3.3 Number of overallInput Registers

In this menu you have the option to define the number of input shiftregisters. Valid input values are between 0 and 32.

--------------------------------------------------KUNBUS-IC - SSC SSR Number of input shift registers-------------------------------------------------->

2.3.3.4 Number of overallOutput Registers

In this menu you have the option to define the number of output shiftregisters. Valid input values are between 0 and 32.

--------------------------------------------------KUNBUS-IC - SSC SSR Number of output shift registers-------------------------------------------------->

2.3.3.5 SSC SSR Bitrate In this menu you have the option to set the bitrate. With option [1]"Auto detect Bitrate" the bitrate is determined automatically.

The values specified are to be regarded as reference values for"fast", "medium" and "slow". In SSC master mode these values arefallen short of by approx. 10%.

In slave mode the CANopen- determines the bitrate.

--------------------------------------------------KUNBUS-IC - SSC SSR Bitrate--------------------------------------------------1 - Auto detect Bitrate2 - 300 kBit/s3 - 1200 kBit/s4 - 4800 kBit/s-------------------------------------------------->

2.3.4 SSC SPI Slave Mode In this menu you have the option to make settings for the SSC SPISlave Mode.

In the first line you will see the current settings.

Using the option [1] "Configure settings" you can configure thesettings.

--------------------------------------------------KUNBUS-IC - SSC SPI Slave Settings--------------------------------------------------Settings: Polarity Normal, Falling Edge, CLK High, MSB first

1 - Configure settings-------------------------------------------------->

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2.3.4.1 SSC SPI SlaveSettings

In this menu you have the option to select the following combinationof clock and data level.

You can find more information on this topic in section"Synchronousserial interface [} 23]".

--------------------------------------------------KUNBUS-IC - SSC SPI Slave Settings--------------------------------------------------1 - Polarity Normal, Rising Edge, CLK Low, MSB first2 - Polarity Normal, Rising Edge, CLK High, MSB first3 - Polarity Normal, Falling Edge, CLK Low, MSB first4 - Polarity Normal, Falling Edge, CLK High, MSB first-------------------------------------------------->

Note! Unfortunately, the representation in this CDI menu is notcompletely correct. In the memory register 0x0018 [} 55] you can seethe correct representation.

2.4 SDI Output Mapping In this menu you have the option to configure the Data-Broker-Mapping for the SDI.

Here you can specify up to four different register areas (start addressand number of successive registers) as data sources.

Optionally, you can activate a timeout and specify default data thatshould be valid in the event of a timeout.

--------------------------------------------------KUNBUS-IC - SDI Outputmapping--------------------------------------------------Src Register Number1 - 1 (0x0001) | 02 - 1 (0x0001) | 03 - 1 (0x0001) | 04 - 1 (0x0001) | 0


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Configuring Output Mapping

--------------------------------------------------KUNBUS-IC – Edit one map entry--------------------------------------------------Source Register:

ü First determine the start address of the source register. You can get an overview of the start addresses in the menuRegister forthe Mapping [} 67].

◦ To do this, select a register from the input data area of thecommunication channels and then enter the number of registers to beused.ð After entering the number of registers, you will return automatically

to the mapping overview.◦ Restart the module.ð Your mapping is now configured and will be applied in the operating

mode.

--------------------------------------------------KUNBUS-IC– Edit one map entry--------------------------------------------------Source Register: 0x1001Number of Registers:

NOTICE! In the event of an invalid mapping (e.g. due to aregister address outside the permitted input range or a registernumber that is too high) an error message appears.

Default data in Data BrokerIn this menu you have the option, to define the default data forconsumers used in the event of invalid production data.

If the data in the input registers should be invalid e.g. because nodata has arrived anymore from outside, the Data Broker uses thefollowing values:– All bits are 1– All bits are 0– All bits remain unchanged

--------------------------------------------------KUNBUS-IC – Default data in data broker--------------------------------------------------1 - all data bit are zero2 - all data bit are one3 - old production values are used-------------------------------------------------->

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Production valid timeIn this menu you have the option,to determine the validity period ofthe register contents to be read out.

The value range of the validity periods can be defined between 0 and255 ms.

If no new data from the producer should arrive in the input registerswithin the predefined period, the Data Broker uses the data setamong the default values.

--------------------------------------------------KUNBUS-IC – Production valid time (0 = disabled)-------------------------------------------------->

2.5 SSC Output Mapping In this menu you have the option to configure the Data-Broker-Mapping for the SDI.



--------------------------------------------------KUNBUS-IC - SSC Outputmapping--------------------------------------------------Src Register Number1 - 1 (0x0001) | 02 - 1 (0x0001) | 03 - 1 (0x0001) | 04 - 1 (0x0001) | 0


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2.6 Fieldbus Output Mapping In this menu you have the option, to configure the Data-Broker-Mapping for the fieldbus interface.



KUNBUS-IC – Fieldbus Outputmapping--------------------------------------------------Src Register Number1 - 1 (0x0001) | 02 - 1 (0x0001) | 03 - 1 (0x0001) | 04 - 1 (0x0001) | 0


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2.7 CANopen settings In the following menu items, you have the option to make field-specific settings.

Using the selection [1]-[3] + [Return] select the required configurationsource.

Using the selection [9] + [Return] you can make adjustments to theconfiguration source.

--------------------------------------------------KUNBUS-IC - CANopen Settings--------------------------------------------------Actual Config Source: Shift register

1 - Modbus Register2 - Switch attached to shift register3 - LSS Setting from CANopen master

9 - Configure Actual Selection-------------------------------------------------->

2.7.1 Modbus Register In this menu, you can assign node ID and bitrate via the storageregister.

--------------------------------------------------KUNBUS-IC - CANopen Mbus Register setting--------------------------------------------------Node ID (0x400d): 1Bitrate (0x4010): automatic detection

1 - Change Node ID2 - Change Bitrate-------------------------------------------------->

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2.7.1.1 Set Node-ID In this menu, you can enter the required node ID directly and save itpermanently.

Possible input values: 1-127

--------------------------------------------------KUNBUS-IC - CANopen Mbus Register. Set Node ID-------------------------------------------------->

2.7.1.2 Change Bitrate Here, you can set the bitrate.

--------------------------------------------------KUNBUS-IC - CANopen Mbus Register. Set Bitrate--------------------------------------------------1 - Automatic bitrate detection2 - 10 kbit3 - 20 kbit4 - 50 kbit5 - 125 kbit6 - 250 kbit7 - 500 kbit8 - 800 kbit9 - 1 Mbit-------------------------------------------------->

2.7.2 Switch attached to shiftRegister

If you want to assign node ID and bitrate via the SSC, enter [2] +[Return] in the "CANopen settings" menu. The SSC is now selectedas the current configuration source. By entering [9] + [Return] thedisplayed dialog window will open.

Here, you can now select the required settings.

--------------------------------------------------KUNBUS-IC - CANopen Switch Settings--------------------------------------------------Actual: Node-ID 6 Bit, Bitrate 2 Bit

1 - Node-ID 2x BCD, Bitrate automatic detection2 - Node-ID 2x BCD, Bitrate 1x BCD3 - Node-ID 6 Bit, Bitrate 2 Bit-------------------------------------------------->

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2.7.3 LSS Settings fromCANopen master

With this selection the address is obtained automatically via theCANopen-Master.

2.8 Set Arbitrary Register In this menu you have the option,to make adjustments to thewriteable registers that do not have their own menu item.

First enter the register number:

--------------------------------------------------KUNBUS-IC – Set Arbitray Register--------------------------------------------------Register Number:

If the register number does not exist or is write-protected, you willreceive a corresponding error message.

--------------------------------------------------KUNBUS-IC – Set Arbitray Register--------------------------------------------------Register Number: 0x5001 <<Register doesn‘t exist or no write access.Register Number:

If the register number is valid, the dialog first shows you the set valuein decimal, hexadecimal and binary notation.

--------------------------------------------------KUNBUS-IC – Set Arbitray Register--------------------------------------------------Register Number: 0x0013Current Value : 1 0x0001 0000_0000_0000_0001bEnter New Value:

Now specify a new value for the register and press [Return] toconfirm your entry.

--------------------------------------------------KUNBUS-IC – Set Arbitray Register--------------------------------------------------Register Number: 0x0013Current Value : 1 0x0001 0000_0000_0000_0001bEnter New Value: 2New Value Set : 2 0x0002 0000_0000_0000_0010b

Register Number:

The configuration interface detects whether it is a decimal,hexadecimal or binary value based on the notation and displays thesaved value once again for confirmation.

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CAUTION Please note that some settings could lead to functional incapacity ofthe CDI interface.You can only remedy such an inaccurate setting with a functional SDIinterface.Ø When correcting the error, all settings made previously are reset.èWrite the value 0x0002 in the register 0x0001ð You have set the module to the original settings. The CDI interface is

now available again.

2.9 Reset Module With this option you can restart the module. The module herebyinterrupts the fieldbus communication temporarily.

A restart is necessary for the module to apply changes of theparameters.

2.10 Extended (Bit)Mapping In this menu you will find information about the current settings of theextended Data Broker. You can configure the individual values in thecorresponding submenus.

The Extended Mapping is executed after the general Mapping. Youcan combine both mapping functions by copying the larger areas withthe standard mapping and change individual bits with the extendedmapping afterwards.

You can define a total of 16 mappings. A mapping can be up to 1024bits long.

You must store the following information for each mapping:– Address of the source register– Bit position within the source register– Address of the target register– Bit position within the target register– Number of bits to be copied

Info!:– Bitwise copying requires performance.

The module works cyclically. During each cycle, the different interfacesare operated in series and the data from the Data Broker is distributedbetween the input and output data areas. Since all interfaces processthe data traffic independently of each other (asynchronous) and storethe data produced or used in a buffer, they are independent of themodule's cycle. In the case of very fast interfaces and a long cycle time,it is possible, however, that the Data Broker does not distribute allincoming data completely if several data packets arrive at the interfacewithin a cycle. Conversely, it may happen in the case of slow interfacesthat the 2nd cycle will already proceed and the output values of aninterface will be changed by the Data Broker before the values from thefirst cycle have been transmitted via the interface.For this reason, the cycle times of the module can be relevant. These

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are normally less than 1 ms. Individual cycles, however, can also lastmore than 5 ms. If you use the Extended Mapping very extensively, thecycle times can increase considerably.– Therefore, only use it if necessary.– Only use it for small areas.

– Bear in mind that the mappings are processed sequentially. If targetareas overlap, this can cause problems.

--------------------------------------------------KUNBUS-IC - Extended (Bit)Mapping--------------------------------------------------Source | Bitp | Dest. | Bitp | Length

1 - 0x0001 | 0 | 0x0001 | 0 | 02 - 0x0001 | 0 | 0x0001 | 0 | 03 - 0x0001 | 0 | 0x0001 | 0 | 04 - 0x0001 | 0 | 0x0001 | 0 | 05 - 0x0001 | 0 | 0x0001 | 0 | 06 - 0x0001 | 0 | 0x0001 | 0 | 07 - 0x0001 | 0 | 0x0001 | 0 | 08 - 0x0001 | 0 | 0x0001 | 0 | 09 - 0x0001 | 0 | 0x0001 | 0 | 010 - 0x0001 | 0 | 0x0001 | 0 | 011 - 0x0001 | 0 | 0x0001 | 0 | 012 - 0x0001 | 0 | 0x0001 | 0 | 013 - 0x0001 | 0 | 0x0001 | 0 | 014 - 0x0001 | 0 | 0x0001 | 0 | 015 - 0x0001 | 0 | 0x0001 | 0 | 016 - 0x0001 | 0 | 0x0001 | 0 | 0

-------------------------------------------------->

The submenu for entering the mapping is displayed by entering anumber from 1 to 16:

--------------------------------------------------KUNBUS-IC - Extended Mapping, 1 Entry--------------------------------------------------Entry : 1Source : 0x1001, Bitpos: 2Destination: 0x2001, Bitpos: 0(Bit)Length: 8

1 - change mapping2 - clear mapping-------------------------------------------------->

Any mapping that might exist is deleted by entering [2]+[Enter].

After entering [1]+[Enter], the Source Address, Bitpos, DestinationAddress, Bitpos and Bit length are polled sequentially:

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Source– Specify here which register the data should originate from.

--------------------------------------------------KUNBUS-IC - Extended Mapping, 1 Entry--------------------------------------------------Entry : 1Source : 0x1401, Bitpos: 14Destination: 0x2401, Bitpos: 2(Bit)Length: 0x2400, Bitpos: 2

1 - change mapping-------------------------------------------------->1Source Register >

Source Bit Position– Specify here the exact position of the bit that you want to map.


1 - change mapping-------------------------------------------------->1Source Register >0x1810Source Bit Position >

Destination Register– Specify here the register where you want to output the data.


1 - change mapping-------------------------------------------------->1Source Register >0x1810Source bit position >5Destination Register >

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Destination Bit Position– Specify the exact position of the bit that you want to map the data on.


1 - change mapping-------------------------------------------------->1Source Register >0x1810Source bit position >5Destination Register >0x2405Destination Bit Position >

Bit Length– Specify here the number of bits you want to map.


1 - change mapping-------------------------------------------------->1Source Register >0x1810Source bit position >5Destination Register >0x2405Destination bit position >3Number of bits to map >

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Main menu with mapping entryAfter confirming the number of bits with the enter key, you will returnautomatically to the main menu.

Here, you will now see the mapping you created in the previoussteps:

--------------------------------------------------KUNBUS-IC - Extended (Bit)Mapping--------------------------------------------------Source | Bitp | Dest. | Bitp | Length

1 - 0x1810 | 5 | 0x2405 | 3 | 272 - 0x0001 | 0 | 0x0001 | 0 | 03 - 0x0001 | 0 | 0x0001 | 0 | 04 - 0x0001 | 0 | 0x0001 | 0 | 05 - 0x0001 | 0 | 0x0001 | 0 | 06 - 0x0001 | 0 | 0x0001 | 0 | 07 - 0x0001 | 0 | 0x0001 | 0 | 08 - 0x0001 | 0 | 0x0001 | 0 | 09 - 0x0001 | 0 | 0x0001 | 0 | 010 - 0x0001 | 0 | 0x0001 | 0 | 011 - 0x0001 | 0 | 0x0001 | 0 | 012 - 0x0001 | 0 | 0x0001 | 0 | 013 - 0x0001 | 0 | 0x0001 | 0 | 014 - 0x0001 | 0 | 0x0001 | 0 | 015 - 0x0001 | 0 | 0x0001 | 0 | 016 - 0x0001 | 0 | 0x0001 | 0 | 0

-------------------------------------------------->

The extended mapping is stored permanently in the module, but isfirst executed after a restart.

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2.11 Script Interpreter In this menu you have the option, to activate or deactivate a scriptand to select the desired port.

NOTICE Please note that activation of a script influences the individual port.Never activate a script with the setting "Port used by script: CDI" if you donot have a fully functional SDI interface for accessing the parametermemory registers! In such a case, your module is no longer configurable!You can switch the status between disabled and enabled by entering[1]+[Return].

– You can define the SDI or CDI as port. You switch between bothoptions by entering [2]+[Return].

--------------------------------------------------KUNBUS-IC - Script Interpreter--------------------------------------------------1 - State: disabled2 - Port used by script: SDI-------------------------------------------------->

2.12 Reset to FactorySettings

With this option, you reset all parameters of the IC module to thedefault values.

You have to confirm the selection by entering the number "36" forreasons of security. Afterwards, the module restarts.

NOTICE Loss of all settingsBear in mind that with this function you will delete all settings that you havepreviously made.

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Menu 3 – "Monitor Communication"3 Monitor Communication In this menu you have the option to view the current values of the

Memory Register.

--------------------------------------------------KUNBUS-IC – Modbus Register Monitor--------------------------------------------------1 – SSC In2 – SDI In3 - Fieldbus In (from Master)4 – SSC Out5 – SDI Out6 - Fieldbus Out (to Master)7 - Arbitrary Register-------------------------------------------------->

3.1 Monitor SSC InputRegisters

In this menu you will get an overview of the current values of theinput areas of the shift register chain.

In the first row you see the setting values for the display. Here, youcan select a binary [b], hexadecimal [h] or decimal [d] format.

--------------------------------------------------KUNBUS-IC – Monitor SSC Input Registers--------------------------------------------------

b=binary, h=hex, d=decimal, n=next, p=previous <cr>=refresh

0x1001: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1009: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1011: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1019: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1021: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1029: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1031: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1039: 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000>

3.2 Monitor SDI InputRegisters

In this menu you will get an overview of the input area's currentvalues of the SDI interface.


--------------------------------------------------KUNBUS-IC – Monitor SDI Input Registers--------------------------------------------------


0x1401: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1409: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1411: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1419: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1421: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1429: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1421: 0x0000 0x0000 0x0000 0x0000 0x0000 0x00000x1439: 0x0000 0x0000 0x0000 0x0000 0x0000 0x0000

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3.3 Monitor Fieldbus Input (from Master)

In this menu you will get an overview of the input area's currentvalues of the CANopen interface.


--------------------------------------------------KUNBUS-IC – Monitor Fieldbus Input (from Master)--------------------------------------------------



3.4 Monitor SSC OutputRegisters

In this menu you will get an overview of the output area's currentvalues of the shift register chain.


--------------------------------------------------KUNBUS-IC – Monitor SSC Output Registers--------------------------------------------------



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3.5 Monitor SDI OutputRegisters

In this menu you will get an overview of the output area's currentvalues of the SDI interface.


--------------------------------------------------KUNBUS-IC – Monitor SDI Output Registers--------------------------------------------------



3.6 Monitor Fieldbus Output (to Master)

In this menu you will get an overview of the output area's currentvalues of the CANopen interface.


--------------------------------------------------KUNBUS-IC – Monitor Fieldbus Output (to Master)--------------------------------------------------



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3.7 Arbitrary Register In this menu you will get an overview of all registers. Use thisfunction to view registers that do not have their own menu item.

First enter the register number (e.g. “0x4001”):

--------------------------------------------------KUNBUS-IC – Monitor Arbitray Register--------------------------------------------------

Register Number: 0x4001

The CDI then displays 64 registers from the specified register value.


--------------------------------------------------KUNBUS-IC – Monitor Arbitray Register--------------------------------------------------


0x4001: ...... ...... 0x0490 ...... 0x002b ...... 0x01020x4009: 0x0ef5 0x0001 0xe240 ...... ...... 0x0000 ......0x4011: ...... 0x0001 ...... ...... 0x0004 0x0055 0x004e0x4019: 0x0042 0x0055 0x0053 0x002d 0x0043 0x004f 0x004d0x4021: 0x0020 0x0045 0x0074 0x0068 0x0065 0x0072 0x004e0x4029: 0x0074 0x002f 0x0049 0x0050 0x0000 0x0017 0x00000x4031: 0x0000 0x0008 0x00e1 0x0000 0x0020 ...... ......0x4039: ...... ...... ...... ...... ...... ...... ......>

The CDI represents registers that do not exist by dots.

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Menu 4 – "Module Status"

4 Module Status In the following submenu you will get an overview of the currentoperating state of the module and of all interfaces.

--------------------------------------------------KUNBUS-COM – Module Status--------------------------------------------------1 – Common Status2 – SDI Status3 - SSC Status4 – CDI Status5 – Fieldbus Status7 - Error Stack8 – Script Status-------------------------------------------------->

4.1 Common Status In this menu you will find information about the current operatingstate of all communication channels.

The CDI displays the states of the interfaces, connection mode forthe main board, configuration errors as well as errors in the DataBroker Mapping.

-------------------------------------------------KUNBUS-IC - Common Status--------------------------------------------------<cr> = refresh; <Esc> = return

Fieldbus State: is stoppedFieldbus Configuration: is okFieldbus Mapping: is ok

Synchron serial communication: is stoppedSync. serial comm. Configuration: is okSync. serial comm. Mapping: is ok

Modbus RTU (SDI) Mapping: is okModbus RTU (SDI) Configuration: is ok-------------------------------------------------->

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4.2 SDI Status In this menu you will find information about the current interfaceparameters and node ID.

If the interface is running in "Automatic Bitrate detection" mode andno bitrate has been detected yet, the message "Actual Bitrate:undefined" will be displayed instead of the interface parameters.

--------------------------------------------------KUNBUS IC – SDI Status--------------------------------------------------<cr> = refresh; <Esc> = return

Modbus Node Address: 1Actual Bitrate: 38400 Bit/sActual Parity: evenActual Stopbits: 1 Stopbit-------------------------------------------------->

4.3 SSC Status In this menu you will find information about the status of the SSCinterface. The representation is dependent on the selected mode andconfigurations:

SSC SSR Master Mode, auto detect shift registers– You have selected "auto detect shift registers" as the configuration

source for the SSC.

In this menu you will find the following information:– Number of shift registers used fieldbus specifically– Number of status LEDs used– Number of shift registers– Bitrate

If the shift register chain is not working, the text "Shift Register chainnot working" will be displayed instead of the interface parameters.

--------------------------------------------------KUNBUS-IC - SSC Status--------------------------------------------------<cr> = refresh; <Esc> = return

SSC SSR Master Mode, auto detect shift registers

Act. No. of Fieldbus Switch regs: 0Act. No. of Fbus Status-LED regs: 0Actual Number of Input registers: 1/1Actual Number of Output registers: 1/1Actual Bitrate: 4800 kBit/s-------------------------------------------------->

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SSC SSR Master Mode, configured registers– You have selected "configured shift registers" as the configuration

source for the SSC.

In this menu you will find the following information:– Number of shift registers used fieldbus specifically– Number of status LEDs used– Number of shift registers– Bitrate

If the number of configured registers does not match the number ofconnected registers or the shift register chain is not working, you willsee the message "Shift Register Chain not working“.

--------------------------------------------------KUNBUS-IC- SSC Status--------------------------------------------------<cr> = refresh; <Esc> = return

SSC SSR Master Mode, configured shift registers

Act. No. of Fieldbus Switch regs: 0Act. No. of Fbus Status-LED regs: 0Actual Number of Input registers: 1/1Actual Number of Output registers: 1/1Actual Bitrate: 4800 kBit/s-------------------------------------------------->

SSC SSR Master Mode, disabledYou will find this representation in one of the following cases:– SSC SSR Master is switched off via the menu– Invalid configuration of the number of input or output registers– Transmission error due to unsuitable bitrate– Other transmission errors (e.g. line interruption)


SSC SSR Master Mode, disabled-------------------------------------------------->

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SSC SPI Slave Mode– You have selected "SSC SPI Slave Mode" as the configuration source.

In this menu you will find information about clock and data level.


SSC SPI Slave Mode

Actual SPI Settings: Polarity Normal, Falling Edge, CLK High, MSBfirst-------------------------------------------------->

4.4 CDI Status In this menu you will find information about the current parameters ofthe CDI.

--------------------------------------------------KUNBUS- IC-Modul – CDI Status--------------------------------------------------<cr> = refresh; <Esc> = return

Actual Bitrate: 115200 Bit/sActual Parity: evenActual Stopbits: 1 Stopbit-------------------------------------------------->

4.5 CANopen Status In this menu you will find information about the current status of thefieldbus interface.

-------------------------------------------------KUNBUS-IC - CANopen Status--------------------------------------------------<cr> = refresh; <Esc> = return

Vendor Id: 0x000002d5Device Type: 0x00000002Revision: 0x00000000Serial number: 4294967295Node ID: 17Bitrate: 250 kBit/sBusstate: Bus is runningCANopen: Operational State-------------------------------------------------->

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4.6 Error Stack In this menu you will find information about the errors that lastoccurred. Please have these entries ready at hand when you contactour support. We can help you faster by evaluating the entries.

If the value is 0x00000000, no error has occurred.

The Error Stack occupies the register 0x000a to 0x0011 andprovides space for 4 entries at a length of 32 bits each.

The register x+0 (0x….0000) contains the High-Word of the error.The register x+1 (0x….0000) contains the Low-Word of the error.

If all four entries are occupied and another error occurs, this error willreplace the oldest error in the Error Stack. The latest error is alwaysdisplayed first.

--------------------------------------------------KUNBUS-IC – Error Stack--------------------------------------------------<cr> = refresh; <Esc> = return

Entry 0: = 0x00000000Entry 1: = 0x00000000Entry 2: = 0x00000000Entry 3: = 0x00000000-------------------------------------------------->

4.7 Script Interpreter Status In this menu you will find information about the current Script-Status.

--------------------------------------------------KUNBUS-IC - Script Interpreter Status--------------------------------------------------<cr> = refresh; <Esc> = return

Port used by script: CDIExecution status: StoppedLoop counter: 0-------------------------------------------------->

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4.8 Emergency Menu In the unlikely event of a serious error, you can open this menu.– You can try to start the module by entering "R".– You can reset the EEPROM to the factory settings with the "F" key.

This can be useful, for example, if a permanently stored value triggers aserious software error after a firmware update.

If the error cannot be remedied, please contact our support. Have thenumber of the error entry ready for this purpose.

--------------------------------------------------KUNBUS-COM - Fatal Error Handler--------------------------------------------------A severe error occurred. Error Stack:

Entry 0: = 0x34030000Entry 1: = 0x00000000Entry 2: = 0x00000000Entry 3: = 0x00000000--------------------------------------------------press 'R' for Reset orpress 'F' for Reset with Factory Defaults-------------------------------------------------->

Also see about this

2 Synchronous serial interface [} 23]

2 General Device Parameters [} 55]

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9 Disposal

9.1 Dismantling and DisposalThis section contains important information explaining how to safelydismantle, replace and dispose of the IC-Modul correctly.

Dismantling

DANGER Danger of electric shockBefore dismantling, make sure that the device in which your module isinstalled is no longer connected to the power supply.èRemove the mains plug of the device from the power supply.èProceed in accordance with the device manufacturer's documentation to

ensure that the device is disconnected from the power supply and nodamage will result when dismantling.

WARNING Fault due to electrostatic dischargeObserve all regulations necessary for working in electrostatically protectedareas in order to avoid any faults on the module.èMake sure that you yourself and the module are earthed.

ü The device, in which your module is installed, has been disconnectedfrom the power supply.

ü You have removed the cover of the housing, if applicable, inaccordance with the manufacturer's instructions.

◦ Release the safety lever, if applicable, and remove your modulecarefully out of the socket.

◦ If you want to insert a new module, proceed as described in sectionInstallation [} 35].

Disposal

Dispose of any defective module at a collection point for wasteelectronic equipment in accordance with EU Directive 2002/96/EC.Do not dispose of the module in your household waste.

Dispose of any defective module in accordance with the localregulations for waste electronic equipment.

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10 Technical data

10.1 Technical data

Dimensions

Length 25.2 mmWidth 45.4 mmHeight 14.2 mmWeight 8 g

Environmental Conditions

Operating temperature 0 °C to +60 °CHumidity 0% not 95%, non-condensingMechanical shock load 15 GPermanent mechanical stress 5 GCondensing not allowedStorage temperature -30 °C to +85 °C

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11 Appendix

11.1 Configuration via ModpollPrerequisite: You have made the SDI interface on the applicationconnector suitable for a PC by your application hardware (e.g. a levelconverter).

Tip!: With the KUNBUS-IC Evaluation Board you have a Sub-Dconnector at your disposal with RS-232 levels that can be connectedto a serial COM interface of the PC or to a serial USB converter.

Complete ApplicationConfiguration

To configure the module conveniently for application, we recommendthat you make the setting adjustments with the aid of the Modpollprogram supplied.ü To do this, open the command line prompt in the first step and then

change to the directory where Modpoll is located. Drag and drop themodpoll.exe file into the input panel.

◦ Always begin new commands with the input "Modpoll".ð Define your application by specifying the protocol type, register address,

baudrate etc. We have compiled the relevant Modpoll commands foryou in the following table.

Example for the Configurationof the SSC Output Register

modpoll –m rtu –r 0x1401 –t 4:hex –b 19200 COM1 0x1234

modpoll –m rtu –r 0x2401 –t 4:hex –b 19200 COM1

Overview of the ModpollCommands

Start modpoll.exeHelp -hProtocol selectionModbus ASCII Protocol -m asciiModbus RTU Protocol -m rtuModbus TCP Protocol -m tcpNested Modbus RTU via TCP -m encAddressesSlave address -a #Register address -r #Number of registers -c #I/ODiscrete output (coil) -t 0Discrete input -t 116-bit input register -t 316-bit input register with hexadecimal display -t 3:hex32-bit integer data type in the input register table -t 3:int32-bit module 1000 data type in the input registertable

-t 3:mod

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32-bit float data type in the input register table -t 3:float16-bit output register (holding) with default value -t 416-bit output register (holding) with hexadecimaldisplay

-t 4:hex

32-bit integer data type in the output register (hold-ing) table

-t 4:int

32-bit module 1000 data type in the output register(holding) table

-t 4:mod

32-bit float data type in the output register table -t 4:floatSlave works onBig-Endian 32-Bit integers -iSlave works onBig-Endian 32-Bit floats -fOnly poll once (instead of every second) -1Use Daniel/Enron single register 32-bit mode -eFirst reference is 0 instead of 1 (PDU addressing) -0Options for Modbus TCPTCP Port number (default value: 502) -p #Options for ASCII and Modbus RTUBaudrate (9600, 19200,... Default value: 9600) -b #Databits (7 or 8 for ANSCCI, 8 for RTU) -d #Stop bits (1 or 2, default value:1) -s #Parity: None -p noneParity: Even -p evenParity: Odd -p oddRS-485 Mode -4 #Timeout in seconds (0.01-10.0 default value: 0) -o #

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Documents

IC-Module for CANopen - KUNBUS · Customer Service1.5 If you have any questions or suggestions concerning this product, please do not hesitate to contact us: KUNBUS GmbH Heerweg 15